CN114527880A - Spatial position identification method, device, equipment and storage medium - Google Patents
Spatial position identification method, device, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
Abstract
The invention discloses a space position identification method, a device, equipment and a storage medium, wherein the method comprises the following steps: reference distance data in a preset direction in the current space, and device distance data of the associated device in the preset direction; the relative position of the associated device is determined from the baseline distance data and the device distance data. According to the invention, the relative position of the associated equipment is determined according to the reference distance data and the equipment distance data of the associated equipment in the preset direction in the current space, so that the technical problem of poor user experience caused by the fact that the spatial position of the associated equipment is easily influenced by external factors when the spatial position of the associated equipment is captured by the camera device is solved, and the user experience is improved while the spatial position identification accuracy of the associated equipment is improved.
Description
Technical Field
The invention relates to the technical field of wearable equipment, in particular to a spatial position identification method, a spatial position identification device, spatial position identification equipment and a storage medium.
Background
Currently, a wearable device generally identifies an associated device through a camera device, for example, when a head-mounted device identifies a handle in a hand of a user, the head-mounted device generally identifies position information of the handle through a camera module of the head-mounted device. However, in a high-load scene, or when the user does some actions and the handle is not within the shooting range of the head-mounted device, the handle position in the picture viewed by the user may shake or the handle position may be lost, which greatly reduces the user experience, and therefore how to accurately identify the spatial position of the associated device becomes an urgent technical problem to be solved.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
Disclosure of Invention
The invention mainly aims to provide a spatial position identification method, a spatial position identification device, spatial position identification equipment and a storage medium, and aims to solve the technical problem that wearing equipment cannot accurately identify the spatial position of associated equipment in the prior art.
In order to achieve the above object, the present invention provides a spatial position recognition method, including the steps of:
acquiring reference distance data in a preset direction in a current space and equipment distance data of associated equipment in the preset direction;
determining a relative position of the associated device based on the reference distance data and the device distance data.
Optionally, the determining the relative position of the associated device according to the reference distance data and the device distance data includes:
determining the equipment space coordinate of the associated equipment according to the equipment distance data and a preset space stereo model;
determining a reference space coordinate according to the reference distance data and the preset space stereo model;
and determining the relative position of the associated equipment according to the equipment space coordinate and the reference space coordinate.
Optionally, the determining the device space coordinate of the associated device according to the device distance data and a preset space stereo model includes:
determining a horizontal device distance and a vertical device distance of the associated device according to the device distance data;
and determining the equipment space coordinate of the associated equipment according to the horizontal equipment distance, the vertical equipment distance and a preset space stereo model.
Optionally, the acquiring reference distance data in a preset direction in the current space and device distance data of the associated device in the preset direction includes:
capturing the spatial position of the associated equipment in the current space through a position capturing device;
and when the position capturing device cannot capture the spatial position of the associated equipment, acquiring reference distance data in a preset direction in the current space and equipment distance data of the associated equipment in the preset direction.
Optionally, before the obtaining of the reference distance data in the preset direction in the current space and the device distance data of the associated device in the preset direction, the method further includes:
when the spatial position of the associated equipment is calibrated, obtaining distance information of the associated equipment in a preset direction in the current space;
and constructing a preset space stereo model corresponding to the current space according to the distance information.
Optionally, the constructing a preset spatial stereo model corresponding to the current space according to the distance information includes:
establishing a spatial coordinate system based on the current space;
determining size data of the current space according to the distance information;
and constructing a preset space three-dimensional model corresponding to the current space according to the space coordinate system and the size data.
Optionally, before obtaining distance information of the associated device in a preset direction in the current space when the spatial position of the associated device is calibrated, the method further includes:
capturing the spatial position of the associated equipment in the current space through a camera device;
and when the camera device cannot capture the spatial position of the associated equipment, carrying out spatial position calibration on the associated equipment.
Optionally, after determining the relative position to the associated device according to the reference distance data and the device distance data, the method further includes:
determining the picture position of the associated equipment in an output picture according to the relative position of the associated equipment;
and displaying the associated equipment in an output picture according to the picture position.
In addition, to achieve the above object, the present invention further provides a spatial position recognition apparatus, including:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring reference distance data in a preset direction in a current space and device distance data of associated devices in the preset direction;
a determining module for determining the relative position of the associated device according to the reference distance data and the device distance data.
In addition, to achieve the above object, the present invention also provides a spatial position recognition apparatus, including: a memory, a processor and a spatial location identification program stored on the memory and executable on the processor, the spatial location identification program being configured to implement the steps of the spatial location identification method as described above.
Furthermore, to achieve the above object, the present invention further proposes a storage medium having stored thereon a spatial position recognition program, which when executed by a processor, implements the steps of the spatial position recognition method as described above.
The method comprises the steps of obtaining reference distance data in a preset direction in a current space and device distance data of associated devices in the preset direction; determining a relative position of the associated device based on the reference distance data and the device distance data. According to the invention, the relative position of the associated equipment is determined according to the reference distance data and the equipment distance data of the associated equipment in the preset direction by acquiring the reference distance data in the preset direction in the current space and the equipment distance data of the associated equipment in the preset direction, so that the technical problem of poor user experience caused by the fact that the spatial position of the associated equipment is easily influenced by external factors when the spatial position of the associated equipment is captured by the camera device is solved, and the user experience is improved while the identification accuracy of the spatial position of the associated equipment is improved.
Drawings
Fig. 1 is a schematic structural diagram of a spatial location identifying device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a spatial location recognition method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of determining spatial coordinates of a device according to an embodiment of the spatial location recognition method of the present invention;
FIG. 4 is a flowchart illustrating a spatial location recognition method according to a second embodiment of the present invention;
FIG. 5 is a flowchart illustrating a spatial location recognition method according to a third embodiment of the present invention;
fig. 6 is a schematic diagram illustrating obtaining distance information of associated devices according to an embodiment of the spatial location identifying method of the present invention;
FIG. 7 is a schematic diagram of a preset spatial three-dimensional model according to an embodiment of the spatial location recognition method of the present invention;
fig. 8 is a block diagram of a spatial position recognition apparatus according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a spatial location identification device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the spatial position recognition apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the arrangement shown in figure 1 does not constitute a limitation of the spatial position recognition apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a spatial location recognition program.
In the spatial position recognition apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the spatial position recognition apparatus according to the present invention may be provided in the spatial position recognition apparatus, which calls the spatial position recognition program stored in the memory 1005 through the processor 1001 and executes the spatial position recognition method provided by the embodiment of the present invention.
An embodiment of the present invention provides a spatial location identification method, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of the spatial location identification method according to the present invention.
In this embodiment, the spatial position identification method includes the following steps:
step S10: reference distance data in a preset direction in a current space and equipment distance data of associated equipment in the preset direction are obtained.
It should be noted that the execution subject of the embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a spatial location identification device, etc. capable of implementing the above functions. The spatial position recognition device may be a VR device, an AR head-mounted device, or the like, and the present embodiment and each of the following embodiments will be described below by taking the VR device as an example.
It is to be understood that the current space may be a space in which the user is located when experiencing the VR application or playing the VR game using the VR device; the preset direction may be a preset direction in which distance data from the current spatial boundary is acquired.
It should be understood that the reference distance data may be distance data in a preset direction of the current space acquired by the VR device; the associated device may be a device that is associated with the VR device and that is capable of data interaction; the device distance data may be distance data in a current spatial preset direction acquired by the associated device.
It can be understood that the distance data can be collected through the distance sensors, a preset number of distance sensors can be set on the associated device and the VR device according to a specific application scene, and when the spatial position is identified, the reference distance data and the device distance data are collected through the distance sensors.
In a specific implementation, for example, the current space is a room, the associated device is a handle, the preset directions are a direction horizontal to the floor of the room and a direction perpendicular to the floor of the room, five directions, namely, front, rear, left, right and upper directions, of the VR device, at least one distance sensor is arranged in each direction, six directions, namely, front, rear, left, right, upper and lower directions, of the handle, at least one distance sensor is arranged in each direction, distance data in the horizontal direction and distance data in the vertical direction of the room, acquired by the VR device through the arranged distance sensors, are used as reference distance data, distance data in the horizontal direction and distance data in the vertical direction of the room, acquired by the handle through the arranged distance sensors in each direction, are used as device distance data, and the VR device acquires the reference distance data and the device distance data.
Step S20: determining a relative position of the associated device based on the reference distance data and the device distance data.
It will be appreciated that the relative position may be the position of the associated device relative to the VR device in the current space; the VR equipment can determine the current position of the VR equipment in the current space according to the reference distance data, the current position is the reference position, the position of the associated equipment in the current space can be determined according to the equipment distance data, and the relative position of the associated equipment can be determined according to the reference position and the position of the associated equipment.
It should be understood that, if the associated device is a handle, when a user plays a game using the VR device and the handle, the user views a game screen through the VR device and completes a game operation through the handle, and during the game, it is necessary to display a relative position of the handle and the VR device in reality on the game screen, so as to perform spatial position recognition and determine a relative position of the handle with respect to the VR device.
In a specific implementation, for example, the VR device acquires reference distance data by acquiring distance data between the wall and the wall in the horizontal direction and the vertical direction in a room through a preset distance sensor, the handle acquires device distance data by acquiring distance data between the wall and the wall in the horizontal direction and the vertical direction in the same room through a preset distance sensor, the VR device acquires the device distance data, the VR device determines a position of the VR device in the room according to the reference distance data, the position is a reference position, the handle position of the handle in the room is determined according to the device distance data, and the VR device determines a relative position of the handle and the VR device in the room according to the reference position and the handle position.
Further, in order to accurately determine the position of the associated device in the current space, thereby improving the accuracy of the spatial position identification, the step S20 includes:
step S201: and determining the equipment space coordinate of the associated equipment according to the equipment distance data and a preset space stereo model.
It can be understood that the preset spatial stereo model may be a preset spatial stereo model corresponding to the current space, and each position point in the preset spatial stereo model may be represented by a determined spatial coordinate; before the spatial position identification, a spatial three-dimensional model corresponding to the current spatial size can be constructed according to the current spatial size.
It should be understood that, when constructing the preset spatial stereo model, the spatial stereo model corresponding to the current space may be divided into a plurality of units according to the preset unit length and the space size, and when determining the device space coordinate, the unit where the associated device is located may be determined through the device distance data, so as to determine the device space coordinate of the associated device in the preset spatial stereo model.
In a specific implementation, referring to fig. 3, where M denotes an associated device, the preset spatial stereo model may include an XY plane, an XZ plane, and a YZ plane, in determining the spatial coordinates of the device, the coordinates of the XY plane of the associated device in the preset spatial stereo model may be determined first, the square grids in the figure represent the cells divided by the XY plane, the distance from the end point of each square grid in the XY plane to the end point of each square grid on the XY axis is determined, the horizontal distance may be read from the device distance data to determine the distance of the associated device from each boundary in the horizontal direction i.e. XY plane, according to the distance, the XY coordinates of the associated equipment on the XY plane can be determined, the Z coordinate of the associated equipment can be determined by reading the vertical distance from the equipment distance data, determining the equipment space coordinate of the associated equipment in the preset space stereo model according to the XY coordinate and the Z coordinate; the horizontal distance may be the distance from the spatial boundary in the horizontal direction acquired by 4 distance sensors provided on the associated apparatus.
It can be understood that, when determining the device space coordinate, the XZ coordinate of the associated device on the XZ plane may be determined first, then the Y coordinate is determined, and finally the device space coordinate XYZ of the associated device is obtained; or determining the YZ coordinate of the associated equipment on the YZ plane, then determining the X coordinate, and finally obtaining the equipment space coordinate XYZ of the associated equipment; the first determination of the XZ and YZ coordinates may be made in reference to the first determination of the XY coordinates as described above; the present embodiment is not limited to this specific manner.
Step S202: and determining a reference space coordinate according to the reference distance data and the preset space stereo model.
It can be understood that the VR device may determine a spatial position coordinate of the VR device in the preset spatial stereo model according to the reference distance data, where the spatial position coordinate is a reference spatial position coordinate; the process of determining the spatial position coordinates of the VR device in the preset spatial stereo model is the same as the process of determining the device spatial coordinates of the associated device.
Step S203: and determining the relative position of the associated equipment according to the equipment space coordinate and the reference space coordinate.
It can be understood that the device space coordinates and the reference space coordinates are space coordinates in the same preset space stereo model, and therefore the relative position of the associated device can be determined according to the device space coordinates and the reference space coordinates.
In a specific implementation, for example, the VR device reads the device horizontal distance and the device vertical distance from the device distance data, and first determines the position of the associated device on an XY plane in a preset spatial stereo model according to the device horizontal distance, so as to obtain XY coordinates of the associated device; reading the vertical distance of the equipment from the equipment distance data so as to determine the position of the associated equipment on the Z axis in the preset space three-dimensional model, obtaining the Z coordinate of the associated equipment, and determining the equipment space coordinate of the associated equipment in the preset space three-dimensional model according to the XY coordinate and the Z coordinate; through the same method as the method for determining the space coordinate of the equipment, the VR equipment determines the space coordinate of the VR equipment in a preset space stereo model, namely a reference space coordinate according to the reference distance data; and determining the relative position of the associated equipment in the preset space stereo model, namely the actual relative position of the associated equipment in the current space relative to the VR equipment according to the reference space coordinate and the equipment space coordinate.
Further, in order to accurately determine the spatial position coordinates of the associated device, so as to improve the accuracy of spatial position identification, the determining the device spatial coordinates of the associated device according to the device distance data and a preset spatial stereo model includes: determining a horizontal device distance and a vertical device distance of the associated device according to the device distance data; and determining the equipment space coordinate of the associated equipment according to the horizontal equipment distance, the vertical equipment distance and a preset space stereo model.
It will be appreciated that the horizontal device distance may be the distance between the associated device and the boundary of the space in the horizontal direction; the vertical device distance may be a distance between the associated device and a spatial boundary in a vertical direction; the horizontal device distance and the vertical device distance may be read from the device distance data.
It is to be understood that the XY coordinates of the associated device in the preset spatial stereo model can be determined from the horizontal device distance, the Z coordinates of the associated device in the preset spatial stereo model can be determined from the vertical device distance, and the device space coordinates of the associated device in the preset spatial stereo model can be determined from the XY coordinates and the Z coordinates.
In a specific implementation, the VR device reads the horizontal device distance and the vertical device distance from the device distance data, and determines the device space coordinates of the associated device in the preset spatial stereo model according to the horizontal device distance and the vertical device distance.
Further, in order to accurately display the associated device in the output screen and improve the user experience, after the step S20, the method further includes: determining the picture position of the associated equipment in an output picture according to the relative position of the associated equipment; and displaying the associated equipment in an output picture according to the picture position.
In a specific implementation, the VR device determines a picture position of the associated device in an output picture according to a relative position of the associated device and the VR device, displays the associated device in the output picture according to the picture position, and renders the associated device, for example, a user performs an archery game through the VR device, the VR device determines a picture position of the associated device according to the relative position, renders the associated device as an arrow in the output picture, and displays the arrow according to the picture position.
The embodiment acquires reference distance data in a preset direction in a current space and device distance data of associated devices in the preset direction; determining a relative position of the associated device based on the reference distance data and the device distance data. According to the embodiment, the relative position of the associated equipment is determined according to the reference distance data and the equipment distance data of the associated equipment in the preset direction in the current space, so that the technical problem of poor user experience caused by the fact that the spatial position of the associated equipment is easily influenced by external factors when the spatial position of the associated equipment is captured through the camera device is solved, and the user experience is improved while the identification accuracy of the spatial position of the associated equipment is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a spatial location recognition method according to a second embodiment of the present invention.
Based on the first embodiment described above, in the present embodiment, the step S10 includes:
step S101: the spatial position of the associated device in the current space is captured by the position capturing means.
It will be appreciated that the location capture means may be means provided on the VR device for identifying the spatial location of the associated device, the location capture means comprising camera means, infrared recognition means or other means having the same or similar functionality; the associated device includes a handle, data glove, or other device having the same or similar functionality.
In a specific implementation, the VR device identifies a spatial position of the handle in a current space through the camera.
Step S102: and when the position capturing device cannot capture the spatial position of the associated equipment, acquiring reference distance data in a preset direction in the current space and equipment distance data of the associated equipment in the preset direction.
It will be appreciated that the inability of the location capture device to capture the spatial location of the associated apparatus may be the inability of the associated apparatus to be within the capture range of the location capture device, resulting in the inability of the capture device to capture the spatial location of the associated apparatus.
In specific implementation, when a user normally uses the VR device, the VR device identifies the spatial position of the handle in the current space through the camera device, when the handle is outside the camera range of the camera device, the VR device cannot identify the spatial position of the handle in the current space through the camera device, at this time, the VR device acquires reference distance data in a preset direction in the current space and device distance data of the associated device in the preset direction, and determines the relative position of the handle in the current space according to the reference distance data and the device distance data.
For example, a user plays a table tennis game by using a VR device and a handle, if the user normally uses the VR device and the handle, that is, the handle is within a shooting range of an imaging device, the VR device recognizes a spatial position of the handle in a current space by the imaging device, if the user performs a large-scale motion by the hand and places the hand behind, the handle is outside the shooting range of the imaging device, the VR device cannot recognize the current position of the handle by the imaging device, the VR device acquires reference distance data in a preset direction in the current space and device distance data of the handle, and determines a relative position of the handle and the VR device in the current space according to the reference distance data and the device distance data.
The embodiment captures the spatial position of the associated equipment in the current space through the position capture device; and when the position capturing device cannot capture the spatial position of the associated equipment, acquiring reference distance data in a preset direction in the current space and equipment distance data of the associated equipment in the preset direction. According to the embodiment, when the position capturing device cannot capture the spatial position of the associated equipment in the current space, the spatial position of the associated equipment in the current space is determined according to the reference distance data and the equipment distance data, so that the technical problem that the position of the associated equipment in a user picture is lost due to the fact that the position capturing device cannot capture the spatial position of the associated equipment is solved, and the user experience is improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a spatial location identification method according to a third embodiment of the present invention.
Based on the foregoing embodiment, in this embodiment, before the step S10, the method further includes:
step S1: when the spatial position of the associated equipment is calibrated, the distance information of the associated equipment in the preset direction in the current space is obtained.
It should be understood that the spatial position calibration of the associated device may be triggered manually and/or automatically; the manual trigger may be triggered by a trigger button provided on the VR device or associated device, and when the user triggers the button, the associated device is spatially calibrated.
It will be appreciated that the conditions for automatic triggering may be: (1) the VR device is used for the first time; (2) the VR device arrives at a new space; (3) the VR device may not find the preset spatial stereo model corresponding to the current space, and may also be triggered by other conditions, which is not limited in this embodiment.
It is understood that the spatial location calibration may be a calibration of a location in which the associated device is located in the current space; the distance information comprises distances between the associated equipment and each boundary of the current space and angles corresponding to the distances; the preset direction includes a horizontal direction and a vertical direction.
In a specific implementation, for example, when the VR device is used for the first time, the spatial position of the associated device is calibrated, and the associated device may be horizontally rotated by 360 degrees in the current space, so that the distance sensor provided on the associated device collects distance information in each angle in the horizontal direction and in the vertical direction in the current space, and when the collection is completed, the VR device obtains the distance information.
Step S2: and constructing a preset space stereo model corresponding to the current space according to the distance information.
In a specific implementation, referring to fig. 6, M indicates a related device, for example, a current space is a room, and in a process of horizontally rotating the related device by 360 degrees, a line segment a, a line segment C, a line segment E, and a line segment F are acquired vertical distances from a surrounding wall in a horizontal direction, a line segment B, a line segment D, a line segment G, and a line segment F are acquired distances intersecting a wall in the horizontal direction, then (a + C) may be used as a size of a Y axis, and (E + F) may be used as a size of an X axis, and distance information in the vertical direction of the room acquired by the related device is used as a size of a Z axis, and a preset space stereo model corresponding to the room may be constructed according to the size of the X axis, the size of the Y axis, and the size of the Z axis.
Furthermore, in order to accurately construct the preset spatial three-dimensional model corresponding to the current space, the accuracy of spatial position identification is improved, and therefore user experience is improved. The step S2 includes:
step S21: and establishing a space coordinate system based on the current space.
It is understood that establishing the spatial coordinate system based on the current space may be taking the ground of the current space as an XY plane, and taking two planes respectively perpendicular to the ground and perpendicular to each other as an XZ plane and a YZ plane; a plane corresponding to a wall surface or a ceiling of a current space may be defined as an XY plane, and two planes perpendicular to the XY plane and perpendicular to each other may be defined as an XZ plane and a YZ plane, respectively.
Step S22: and determining the size data of the current space according to the distance information.
It is understood that, after the space coordinate system based on the current space is established, the size data of the X axis and the size data of the Y axis may be determined according to the distance in the horizontal direction in the distance information; the Y-axis size data may be determined from the distance in the vertical direction in the distance information.
Step S23: and constructing a preset space three-dimensional model corresponding to the current space according to the space coordinate system and the size data.
It can be understood that the size of the space coordinate system established based on the current space can be determined according to the size data of the X-axis, the Y-axis and the Z-axis, and the preset space stereo model corresponding to the current space can be obtained by dividing the space coordinate system according to the preset unit size.
In a specific implementation, referring to fig. 7, for example, when a current space is a room, a VR device obtains a rectangular spatial coordinate system corresponding to the room by taking a floor of the room as an XY plane based on the room, and taking two wall surfaces perpendicular to the floor and perpendicular to each other as an XZ plane and a YZ plane, reads a horizontal distance and a vertical distance from distance information to obtain a length, a width, and a height of the room, where the length and the width of the room are dimensions of an X axis and a Y axis, the height of the room is a dimension of a Z axis, all the dimensions of the X axis, the Y axis, and the Z axis may be marked as 1, and a preset unit length is 0.2, and divides and marks the direct spatial coordinate system according to the preset unit length to obtain a preset spatial stereo model corresponding to the room, where the preset unit length may be set according to a specific scene.
Further, in order to improve the accuracy of identifying the spatial position of the associated device, thereby improving user experience, before obtaining distance information of the associated device in a preset direction in a current space when calibrating the spatial position of the associated device, the method further includes: capturing the spatial position of the associated equipment in the current space through a camera device; and when the camera device cannot capture the spatial position of the associated equipment, carrying out spatial position calibration on the associated equipment.
It is understood that the VR device may also capture the spatial position of the associated device in the current space through the set camera; wherein the camera means may be an infrared camera.
It should be understood that the spatial position where the camera cannot capture the associated device may be that, in an output picture of the VR device viewed by the user, a picture corresponding to the associated device is jittered, or a picture corresponding to the associated device is lost; when the spatial position of the associated equipment cannot be captured, calibrating the spatial position of the associated equipment, and at the moment, if the preset spatial stereo model corresponding to the current space is constructed, directly identifying the spatial position of the associated equipment by the spatial position identification method; if the preset space three-dimensional model corresponding to the current space is not constructed, constructing the preset space three-dimensional model corresponding to the current space through the method, and after the model is constructed, identifying the space position of the associated equipment through the spatial position identification method.
In a specific implementation, for example, a user performs a table tennis game through VR equipment, the VR equipment captures a spatial position of associated equipment through an infrared camera, and renders the associated equipment into a table tennis bat in an output picture according to the captured spatial position, during the process of performing the table tennis game by the user, the associated equipment moves to the back of the user due to an excessively large action amplitude, the spatial position of the associated equipment cannot be captured through a camera device at the moment, the associated equipment is calibrated in the spatial position, the VR equipment reads that a preset spatial stereo model corresponding to a current space is established, and then the spatial position identification is performed on the associated equipment through the spatial position identification method, so as to ensure user experience.
In this embodiment, when a spatial position of associated equipment is calibrated, distance information of the associated equipment in a preset direction in a current space is acquired; and constructing a preset space stereo model corresponding to the current space according to the distance information. In the embodiment, when the spatial position of the associated device is calibrated, the distance information in the preset direction acquired by the associated device is acquired, and the preset spatial three-dimensional model corresponding to the current space is constructed according to the distance information, so that the spatial three-dimensional model corresponding to the current space can be accurately constructed, the spatial position identification accuracy of the associated device is ensured, and the user experience is improved.
Furthermore, an embodiment of the present invention further provides a storage medium, where the storage medium stores a spatial position identification program, and the spatial position identification program, when executed by a processor, implements the steps of the spatial position identification method as described above.
Referring to fig. 8, fig. 8 is a block diagram illustrating a spatial position recognition apparatus according to a first embodiment of the present invention.
As shown in fig. 8, the spatial position recognition apparatus according to the embodiment of the present invention includes: an acquisition module 10 and a determination module 20.
The acquiring module 10 is configured to acquire reference distance data in a preset direction in a current space and device distance data of an associated device in the preset direction;
the determining module 20 is configured to determine the relative position of the associated device according to the reference distance data and the device distance data.
The embodiment acquires reference distance data in a preset direction in a current space and device distance data of associated devices in the preset direction; determining a relative position of the associated device based on the reference distance data and the device distance data. According to the embodiment, the relative position of the associated equipment is determined according to the reference distance data and the equipment distance data of the associated equipment in the preset direction in the current space, so that the technical problem of poor user experience caused by the fact that the spatial position of the associated equipment is easily influenced by external factors when the spatial position of the associated equipment is captured through the camera device is solved, and the user experience is improved while the identification accuracy of the spatial position of the associated equipment is improved.
Based on the first embodiment of the spatial position recognition apparatus of the present invention, a second embodiment of the spatial position recognition apparatus of the present invention is proposed.
In this embodiment, the determining module 10 is further configured to determine the device space coordinate of the associated device according to the device distance data and a preset spatial stereo model; determining a reference space coordinate according to the reference distance data and the preset space stereo model; and determining the relative position of the associated equipment according to the equipment space coordinate and the reference space coordinate.
The determining module 20 is further configured to determine a horizontal device distance and a vertical device distance of the associated device according to the device distance data; and determining the device space coordinates of the associated device according to the horizontal device distance, the vertical device distance and a preset space stereo model.
The determining module 20 is further configured to determine a picture position of the associated device in an output picture according to the relative position of the associated device; and displaying the associated equipment in an output picture according to the picture position.
The obtaining module 10 is further configured to obtain distance information of the associated device in a preset direction in a current space when the spatial position of the associated device is calibrated; and constructing a preset space stereo model corresponding to the current space according to the distance information.
The obtaining module 10 is further configured to establish a spatial coordinate system based on the current space; determining size data of the current space according to the distance information; and constructing a preset space three-dimensional model corresponding to the current space according to the space coordinate system and the size data.
The acquisition module 10 is further configured to capture a spatial position of the associated device in a current space through a camera; and when the camera device cannot capture the spatial position of the associated equipment, performing spatial position calibration on the associated equipment.
Other embodiments or specific implementation manners of the spatial position recognition apparatus of the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A spatial location identification method, the method comprising:
acquiring reference distance data in a preset direction in a current space and equipment distance data of associated equipment in the preset direction;
determining a relative position of the associated device based on the reference distance data and the device distance data.
2. The spatial location recognition method of claim 1, wherein the determining the relative location of the associated device from the reference distance data and the device distance data comprises:
determining the equipment space coordinate of the associated equipment according to the equipment distance data and a preset space stereo model;
determining a reference space coordinate according to the reference distance data and the preset space stereo model;
and determining the relative position of the associated equipment according to the equipment space coordinate and the reference space coordinate.
3. The spatial location recognition method of claim 2, wherein the determining device spatial coordinates of the associated device according to the device distance data and a preset spatial stereo model comprises:
determining a horizontal device distance and a vertical device distance of the associated device according to the device distance data;
and determining the equipment space coordinate of the associated equipment according to the horizontal equipment distance, the vertical equipment distance and a preset space stereo model.
4. The spatial position recognition method according to any one of claims 1 to 3, wherein the acquiring reference distance data in a preset direction in a current space and device distance data in the preset direction of the associated device comprises:
capturing the spatial position of the associated equipment in the current space through a position capturing device;
and when the position capturing device cannot capture the spatial position of the associated equipment, acquiring reference distance data in a preset direction in the current space and equipment distance data of the associated equipment in the preset direction.
5. The spatial position recognition method according to any one of claims 1 to 3, wherein before the acquiring of the reference distance data in a preset direction in the current space and the associating of the device distance data in the preset direction, the method further comprises:
when the spatial position of the associated equipment is calibrated, obtaining distance information of the associated equipment in a preset direction in the current space;
and constructing a preset space stereo model corresponding to the current space according to the distance information.
6. The spatial position recognition method according to claim 5, wherein the constructing the preset spatial stereo model corresponding to the current space according to the distance information includes:
establishing a spatial coordinate system based on the current space;
determining size data of the current space according to the distance information;
and constructing a preset space three-dimensional model corresponding to the current space according to the space coordinate system and the size data.
7. The spatial position recognition method according to claim 5, wherein before obtaining distance information of the associated device in a preset direction in a current space when performing spatial position calibration on the associated device, the method further comprises:
capturing the spatial position of the associated equipment in the current space through a camera device;
and when the camera device cannot capture the spatial position of the associated equipment, carrying out spatial position calibration on the associated equipment.
8. The spatial location identification method of claim 7, after determining the relative location to the associated device based on the reference distance data and the device distance data, the method further comprising:
determining the picture position of the associated equipment in an output picture according to the relative position of the associated equipment;
and displaying the associated equipment in an output picture according to the picture position.
9. A spatial position recognition apparatus, the apparatus comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring reference distance data in a preset direction in a current space and device distance data of associated devices in the preset direction;
a determining module for determining the relative position of the associated device according to the reference distance data and the device distance data.
10. A spatial location identification device, the device comprising: memory, a processor and a spatial position identification program stored on the memory and executable on the processor, the spatial position identification program being configured to implement the steps of the spatial position identification method according to any of claims 1 to 8.
11. A storage medium, characterized in that the storage medium has stored thereon a spatial position recognition program, which when executed by a processor implements the steps of the spatial position recognition method according to any one of claims 1 to 8.
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