CN110160749A - Calibrating installation and calibration method applied to augmented reality equipment - Google Patents
Calibrating installation and calibration method applied to augmented reality equipment Download PDFInfo
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- CN110160749A CN110160749A CN201910489826.1A CN201910489826A CN110160749A CN 110160749 A CN110160749 A CN 110160749A CN 201910489826 A CN201910489826 A CN 201910489826A CN 110160749 A CN110160749 A CN 110160749A
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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
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Abstract
The application discloses a kind of calibrating installation and calibration method applied to augmented reality equipment, the augmented reality equipment includes the first augmented reality equipment and the second augmented reality equipment, the calibrating installation applied to augmented reality equipment includes calibration camera, adjustment device, calibration screen and controller, the controller receives the projected image that the augmented reality equipment issues by the calibration camera, and adjust the adjustment device and the augmented reality equipment is adjusted, realize the image co-registration calibration of the augmented reality equipment.The problem of the application provides a kind of calibrating installation and calibration method applied to augmented reality equipment, solves the ununified calibration standard of the calibration to augmented reality equipment in the prior art, influences the yield rate of augmented reality equipment.
Description
Technical field
This application involves optical correction's technical field more particularly to a kind of calibrating installation applied to augmented reality equipment and
Calibration method.
Background technique
Currently, augmented reality equipment just towards big visual field, small size, can volume production direction grow rapidly, current enhancing is existing
Real equipment requires to merge the image of right and left eyes by calibration, in the prior art, the right and left eyes figure of augmented reality equipment
Picture calibration is mainly carried out by the human eye subjectivity of reviewer, and different testing staff uses the time of augmented reality equipment not
Together, can degree to image co-registration there are biggish errors, therefore cannot achieve unified calibration standard, so that enhancing can be reduced
The yield rate of real world devices.
Summary of the invention
The application provides a kind of calibrating installation and calibration method applied to augmented reality equipment, it is intended to solve the prior art
In to the ununified calibration standard of calibration of augmented reality equipment, the problem of influencing the yield rate of augmented reality equipment.
The application proposes a kind of calibrating installation applied to augmented reality equipment, and the augmented reality equipment includes the first increasing
Strong real world devices and the second augmented reality equipment,
The calibrating installation applied to augmented reality equipment includes:
Calibration camera, the calibration camera include the first calibration camera and the second calibration camera；First calibration camera
It is arranged side by side with second calibration camera, first calibration camera is for receiving the first of the first augmented reality equipment
Projected image；Second calibration camera is used to receive the second projected image of the second augmented reality equipment；
Device is adjusted, the adjustment device includes the first adjustment device and second adjustment device；The first adjustment device
It is connect with the first augmented reality equipment；The second adjustment device is connect with the second augmented reality equipment；
Calibration screen, the calibration screen are set to side of the first augmented reality equipment far from first calibration camera；
Controller, the controller and first calibration camera and second calibration camera communicate to connect.
Optionally, the vertical line and institute at the first augmented reality equipment and the second augmented reality equipment line midpoint
The center vertical line for stating calibration screen is conllinear.
Optionally, the calibrating installation applied to augmented reality equipment further include:
Camera lens is calibrated, the calibration camera lens includes the first calibration camera lens and the second calibration camera lens；The first calibration camera lens
Between the first augmented reality equipment and first calibration camera；The second calibration camera lens is set to described second and increases
Between strong real world devices and second calibration camera.
Optionally, the first calibration camera lens calibrates camera lens with described second at a distance from the first augmented reality equipment
With being equidistant for the second augmented reality equipment；The optical axis of the first calibration camera lens and the first augmented reality equipment
Central axes it is conllinear, it is described second calibration camera lens optical axis it is conllinear with the central axes of the second augmented reality equipment.
Optionally, the first augmented reality equipment includes the first projection light machine and first wave guide, and second enhancing is existing
Real equipment includes the second projection light machine and second waveguide；
The first wave guide is set to first projection light machine close to the side of the calibration screen；
The second waveguide is set to second projection light machine close to the side of the calibration screen；
The first wave guide includes first input end and the first output end；
The second waveguide includes the second input terminal and second output terminal；
The projecting direction of first projection light machine is directed toward the first input end；
The information gathering direction of the first calibration camera lens is directed toward first output end；
The projecting direction of second projection light machine is directed toward second input terminal；
The information gathering direction of the second calibration camera lens is directed toward the second output terminal.
Optionally, the resolution ratio of first calibration camera is greater than the projected resolution of first projection light machine；It is described
The resolution ratio of second calibration camera is greater than the projected resolution of second projection light machine.
To achieve the above object, the application proposes a kind of calibration method applied to augmented reality equipment, and the enhancing is existing
Real equipment includes the first augmented reality equipment and the second augmented reality equipment, and the calibration method is applied to calibrating installation, described
Calibrating installation includes:
Device is adjusted, the adjustment device includes the first adjustment device and second adjustment device；The first adjustment device
It is connect with the first augmented reality equipment；The second adjustment device is connect with the second augmented reality equipment；
Calibration camera, the calibration camera include the first calibration camera and the second calibration camera；
Calibration screen, the calibration screen are set to the side of the augmented reality equipment far from the calibration camera；
The calibration method applied to augmented reality equipment includes:
It controls the first augmented reality equipment and projects the first projected image, control the second enhancing display equipment projection
Second projected image；
First projected image and the first calibration image are acquired by first calibration camera, passes through second school
Quasi- camera acquires second projected image and the second calibration image, wherein the first calibration image is described first
The picture of the collected calibration screen of calibration camera, the second calibration image are that second calibration camera is collected described
Calibrate the picture of screen；
By adjusting the first adjustment device and the second adjustment device, first projected image is made to be moved to
One calibrating position makes second projected image be moved to the second calibrating position.
Optionally, the first augmented reality equipment includes the first projection light machine and first wave guide, and second enhancing is existing
Real equipment includes the second projection light machine and second waveguide, and control the first augmented reality equipment projects the first perspective view
Picture controls the second enhancing display equipment and projects the second projected image, comprising:
First projection light machine is controlled to issue described in first projected image and second projection light machine sending
Second projected image；
The input terminal for controlling the first wave guide receives the input terminal of first projected image and the second waveguide
Receive second projected image；
The output end for controlling the first wave guide exports first projected image to first calibration camera and institute
The output end for stating second waveguide exports second projected image to second calibration camera.
Optionally, described by adjusting the first adjustment device and the second adjustment device, make first projection
Image is moved to the first calibrating position, and second projected image is made to be moved to the second calibrating position, comprising:
First position of first projected image on the first calibration image is obtained, determines the first displacement；
The second position of second projected image on the second calibration image is obtained, determines second displacement amount；
According to first displacement and the second displacement amount, adjusts the first adjustment device and described second and adjust
Engagement positions, make first projected image be moved to first calibrating position and to be moved to second projected image described
Second calibrating position.
Optionally, the first augmented reality equipment includes the first projection light machine and first wave guide, and second enhancing is existing
Real equipment includes the second projection light machine and second waveguide, described according to first displacement and the second displacement amount, is adjusted
The whole the first adjustment device and the second adjustment device, make first projected image be moved to first calibrating position
And second projected image is made to be moved to second calibrating position, comprising:
Position and the angle that first projection light machine is adjusted by the first adjustment device, make first perspective view
As the first calibrating position being moved on the first calibration image；
Position and the angle that second projection light machine is adjusted by the second adjustment device, make second perspective view
As the second calibrating position being moved on the second calibration image.
Optionally, the first augmented reality equipment includes the first projection light machine and first wave guide, and second enhancing is existing
Real equipment includes the second projection light machine and second waveguide, described according to first displacement and the second displacement amount, is adjusted
The whole the first adjustment device and the second adjustment device, make first projected image be moved to first calibrating position
And second projected image is made to be moved to second calibrating position, further includes:
Position and the angle that the first wave guide is adjusted by the first adjustment device move first projected image
It moves to the first calibrating position on the first calibration image；
Position and the angle that the second waveguide is adjusted by the second adjustment device move second projected image
It moves to the second calibrating position on the second calibration image.
Optionally, first calibrating position is the center of the first calibration image, and second calibrating position is institute
State the center of the second calibration image.
In the technical solution that the application proposes, the calibrating installation applied to augmented reality equipment is applied to augmented reality
Equipment, the augmented reality equipment includes the first augmented reality equipment and the second augmented reality equipment, described to be applied to enhancing now
The calibrating installation of real equipment includes: calibration camera, adjustment device, calibration screen and controller, and the calibration camera includes first
Calibration camera and the second calibration camera；The regulating device includes the first regulating device and the second regulating device, the adjustment dress
Set the position for adjusting the augmented reality equipment, the calibration screen is set to the first augmented reality equipment far from described the
The side of one calibration camera；The projected image that the calibration camera receives is controlled by the controller, and according to the throwing
Device is adjusted described in shadow Image Adjusting.By the adjustment device and the calibration camera, enable the augmented reality equipment
It is calibrated according to unified alignment requirements, and then avoids passing through testing staff and the subjective detection of progress, solution are detected to image co-registration
It has determined and ununified calibration standard is calibrated to augmented reality equipment in the prior art, reduced augmented reality equipment yield
Problem.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the schematic side view for the calibrating installation that the present invention is applied to augmented reality equipment；
Fig. 2 is the schematic top plan view for the calibrating installation that the present invention is applied to augmented reality equipment；
Fig. 3 is the structural schematic diagram for one embodiment of calibrating installation that the present invention is applied to augmented reality equipment；
Fig. 4 is the structural schematic diagram for the another embodiment of calibrating installation that the present invention is applied to augmented reality equipment；
Fig. 5 is the flow diagram for one embodiment of calibration method that the present invention is applied to augmented reality equipment；
Fig. 6 is the flow diagram for the another embodiment of calibration method that the present invention is applied to augmented reality equipment；
Fig. 7 is the flow diagram for the another embodiment of calibration method that the present invention is applied to augmented reality equipment.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Augmented reality equipment | 40 | Calibration screen |
| 11 | First augmented reality equipment | 50 | Calibrate camera lens |
| 12 | Second augmented reality equipment | 51 | First calibration camera lens |
| 20 | Calibration camera | 52 | Second calibration camera lens |
| 21 | First calibration camera | 111 | First projection light machine |
| 22 | Second calibration camera | 112 | First wave guide |
| 30 | Adjust device | 121 | Second projection light machine |
| 31 | The first adjustment device | 122 | Second waveguide |
| 32 | Second adjustment device |
The embodiments will be further described with reference to the accompanying drawings for realization, functional characteristics and the advantage of the application purpose.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.Base
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall in the protection scope of this application.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present application
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in this application is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present application, " multiples' " contains
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in this application.
It in addition, the technical solution between each embodiment of the application can be combined with each other, but must be general with this field
Based on logical technical staff can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not this application claims protection scope within.
The application provides a kind of calibrating installation and calibration method applied to augmented reality equipment.
Fig. 1 to Fig. 4 is please referred to, the augmented reality equipment 10 includes the first augmented reality equipment 11 and the second augmented reality
Equipment 12,
The calibrating installation applied to augmented reality equipment includes:
Calibration camera 20, the calibration camera 20 include the first calibration camera 21 and the second calibration camera 22；Described first
Calibration camera 21 and second calibration camera 22 are arranged side by side, and first calibration camera 21 is for receiving first enhancing
First projected image of real world devices 11；Second calibration camera 22 is used to receive the of the second augmented reality equipment 12
Two projected images；
Device 30 is adjusted, the adjustment device 30 includes the first adjustment device 31 and second adjustment device 32；Described first
Adjustment device 31 is connect with the first augmented reality equipment 11；The second adjustment device 32 is set with second augmented reality
Standby 12 connection；
Calibration screen 40, the calibration screen 40 are set to the first augmented reality equipment 11 far from first calibration camera 21
Side；
Controller, the controller and first calibration camera 21 and second calibration camera 22 communicate to connect.
In the technical solution that the application proposes, the calibrating installation applied to augmented reality equipment is applied to augmented reality
Equipment 10, the augmented reality equipment 10 include the first augmented reality equipment 11 and the second augmented reality equipment 12, the application
Include: calibration camera 20, adjust device 30 and controller (not shown), the calibration phase in the calibrating installation of augmented reality equipment
Machine 20 includes the first calibration camera 21 and the second calibration camera 22；The regulating device 30 includes the first regulating device 31 and second
Regulating device 32, the adjustment device 30 are used to adjust the position of the augmented reality equipment 10, and the calibration screen 40 is set to institute
State side of the first augmented reality equipment 11 far from first calibration camera 21；The calibration phase is controlled by the controller
The projected image that machine 20 receives, and the adjustment device 30 is adjusted according to the projected image.Pass through the adjustment device 30
With the calibration camera 20, the augmented reality equipment 10 is enable to be calibrated according to unified alignment requirements, and then avoided
Image co-registration is detected by testing staff and carries out subjective detection, solves the calibration in the prior art to augmented reality equipment 10
The problem of ununified calibration standard, reduction augmented reality equipment yield.
In specific embodiment, the calibrating installation applied to augmented reality equipment is to the augmented reality equipment 10
When being calibrated, by receiving the picture of first projected image, second projected image and the calibration screen 40, judgement
The second projection that the first projected image and second calibration camera 22 that first calibration camera 21 receives receive
Relative position of the image in first calibration camera 21 and second calibration camera 22, consequently facilitating to described first
Adjustment device 31 is adjusted with the second adjustment device 32.
In preferred embodiment, center vertical line and the first augmented reality equipment 11 of the calibration screen 40 and described
The vertical line at 12 line midpoint of the second augmented reality equipment is conllinear, so as to make the perspective view of the first augmented reality equipment 11
As the projected image with the second augmented reality equipment 12 is respectively positioned on the calibration screen 40.
In one embodiment, the center of the calibration screen 40, which is equipped with, is used for what the augmented reality equipment 10 was calibrated
Error graduation mark, the error graduation mark is for determining described in first projected image and second projected image distance
The distance at the center of calibration screen 40, to judge the fusion degree of first projected image Yu second projected image.
In another embodiment, first projected image is identical as second projected image, it is preferred that described
One projected image and second projected image are cross hairs, facilitate calibration personnel according to first projected image with it is described
Transverse and longitudinal distance between second projected image adjusts the first adjustment device 31 with the second adjustment device 32, thus
Simplify the adjustment process to the adjustment device 30.
The calibrating installation applied to augmented reality equipment further include: calibration camera lens 50, the calibration camera lens 50 include
First calibration camera lens 51 and the second calibration camera lens 52；The first calibration camera lens 51 be set to the first augmented reality equipment 11 with
Between first calibration camera 21；The second calibration camera lens 52 is set to the second augmented reality equipment 12 and described second
Between calibration camera 22.Specifically, the first calibration camera lens 51 is for receiving first calibration camera 21 clearly
First projected image, the second calibration camera lens 52 is for making second calibration camera 22 receive clearly described the
Two projected images, so that the convenient calibrating installation applied to augmented reality equipment is calibrated.
In some alternative embodiments, in order to melt to the right and left eyes image in the augmented reality equipment 10
It closes, human eye is simulated with the calibration camera 20 by the calibration camera lens 50, the augmented reality equipment 10 is calibrated, because
This be arranged it is described first calibration camera lens 51 with the first augmented reality equipment 11 at a distance from and it is described second calibration camera lens 52 and
The second augmented reality equipment 12 is equidistant, the actual range for simulating human eye to the augmented reality equipment 10.
It is understood that first school is arranged in order to which accurate simulation human eye receives the image that the augmented reality equipment 10 projects
The optical axis of quasi- camera lens 51 is conllinear with the central axes of the first augmented reality equipment 11, it is described second calibration camera lens 52 optical axis with
The central axes of the second augmented reality equipment 12 are conllinear, to guarantee that the first augmented reality equipment 11 increases with described second
The projected image of strong real world devices 12 can be received accurately by left eye and right eye.
In some alternative embodiments, the augmented reality equipment 10 is grating waveguide formula augmented reality equipment 10,
Wherein the first augmented reality equipment 11 includes that the first projection light machine 111 and first wave guide 112, second augmented reality are set
Standby 12 include the second projection light machine 121 and second waveguide 122, during the first augmented reality 11 projection imaging of equipment,
The image transmitting that first projection light machine 111 projects to the first wave guide 112 input terminal, and by the output of the waveguide
Projected image is transmitted to first calibration camera 21, first calibration camera 21 by the first calibration camera lens 51 by end
Other than receiving the projected image of first projection light machine 111, while obtaining the image of the calibration screen 40；Same principle
, second calibration camera 22 receives the projected image of second projection light machine 121 and the image of the calibration screen 40.
Specifically, in one embodiment, the first wave guide 112 is set to first projection light machine 111 close to institute
40 sides of calibration screen are stated, the projecting direction of first projection light machine 111 is directed toward the input terminal of the first wave guide 112, described
The output end of first wave guide 112 is directed toward the first calibration optical axis direction of camera lens 51 and connecing for first calibration camera 21
Debit to.The second waveguide 122 is set to second projection light machine 121 and shields 40 sides close to the calibration, and described second throws
The projecting direction of shadow ray machine 121 is directed toward the input terminal of the second waveguide 122, and the output end of the second waveguide 122 is directed toward institute
State the optical axis direction of the second calibration camera lens 52 and the receiving direction of second calibration camera 22.
In preferred embodiment, the resolution ratio of first calibration camera 21 is greater than the throwing of first projection light machine 111
Shadow resolution ratio；The resolution ratio of second calibration camera 22 is greater than the projected resolution of second projection light machine 121.Specifically
, when the resolution ratio of first calibration camera 21 is less than the projected resolution of first projection light machine 111, to described
When first augmented reality equipment 11 carries out calibration examination, the calibration accuracy of the calibrating installation applied to augmented reality equipment can be by
It is limited to the camera resolution of first calibration camera 21, so that the projection accuracy for being unable to reach the augmented reality equipment 10 is wanted
It asks；Similarly it is found that when the resolution ratio of second calibration camera 22 is less than second projection light machine 121, states and be applied to increase
The calibration accuracy of the adjustment device 30 of strong real world devices 10 can be limited to the camera resolution of second calibration camera 22, equally
It is unable to reach the projection accuracy requirement of the augmented reality equipment 10.
Referring to figure 5., to achieve the above object, the application proposes a kind of calibration side applied to augmented reality equipment 10
Method, wherein the augmented reality equipment 10 includes the first augmented reality equipment 11 and the second augmented reality equipment 12, the application
It include adjustment device 30 and calibration camera 20 and controller in the calibrating installation of augmented reality equipment, the adjustment device 30 wraps
Include the first adjustment device 31 and second adjustment device 32；The first adjustment device 31 connects with the first augmented reality equipment 11
It connects；The second adjustment device 32 is connect with the second augmented reality equipment 12；The calibration camera 20 includes the first calibration
Camera 21 and the second calibration camera 22；First calibration camera 21 is for receiving the first of the first augmented reality equipment 11
First calibration image of projected image and the calibration screen 40；Second calibration camera 22 is for receiving second enhancing
Second calibration image of the second projected image of real world devices 12 and the calibration screen 40；The controller is used for and described the
One calibration camera 21 and second calibration camera 22 communication connection, for control first calibration camera 21 receive it is described
First projected image and second calibration camera 22 receive second projected image, it is to be understood that in another excellent
It selects in embodiment, the controller is removed to be connect with first calibration camera 21 and second calibration camera communication 22, also
It is communicated to connect with the first adjustment device 31 and the second adjustment device 32, passes through controller control described first
Adjust the adjustment process of device 31 and the second adjustment device 32；The calibration method packet applied to augmented reality equipment
It includes:
S100 controls the first augmented reality equipment 11 and projects the first projected image, controls the second enhancing display
Equipment 12 projects the second projected image；
S200 acquires first projected image and the first calibration image by first calibration camera 21, passes through institute
It states the second calibration camera 22 and acquires second projected image and the second calibration image, wherein the first calibration image
For the picture of the collected calibration screen 40 of first calibration camera 21, the second calibration image is the second calibration phase
The picture of the collected calibration screen 40 of machine 22；
S300 makes first perspective view by adjusting the first adjustment device 31 and the second adjustment device 32
As being moved to the first calibrating position, second projected image is made to be moved to the second calibrating position.
Wherein, first calibrating position be first calibration camera 21 can collected position, second school
Level is set to second calibration camera 22 being capable of collected position.In preferred embodiment, first calibrating position is
The center of the first calibration image, second calibrating position are the center of the second calibration image.
In some alternative embodiments, the first adjustment device 31 is the adjustment dress of Three Degree Of Freedom or six degree of freedom
Set, for adjusting position and the angle of the first augmented reality equipment 11, the second adjustment device 32 be Three Degree Of Freedom or
The adjustment device of six degree of freedom, for adjusting position and the angle of the second augmented reality equipment 12.It is adjusted by described first
Engagement positions 31 and the second adjustment device 32 adjust the position of first projected image and second projected image, from
And realize the image co-registration of the first augmented reality equipment 11 and the second augmented reality equipment 12.
In specific embodiment, first calibration camera 21 obtains first projected image and second calibration
After camera 22 obtains second projected image, according to first projected image and second projected image adjustment described the
One adjustment device 31 and the second adjustment device 32, so as to adjust first projected image in the first calibration image
Relative position and second projected image it is described second calibration image in relative position, when first perspective view
Image position when second projected image is located at the center of the second calibration image, is sentenced in the center of the first calibration image
The calibration for the first augmented reality equipment 11 and the second augmented reality equipment 12 of breaking is completed.
Fig. 6 is please referred to, in some alternative embodiments, the augmented reality equipment 10 is that the enhancing of grating waveguide formula is existing
Real equipment 10, the first augmented reality equipment 11 include the first projection light machine 111 and first wave guide 112, second enhancing
Real world devices 12 include the second projection light machine 121 and second waveguide 122, the calibrating installation packet applied to augmented reality equipment
Calibration camera 20 is included, the calibration camera 20 includes the first calibration camera 21 and the second calibration camera 22, the step S100 packet
It includes:
S110 controls first projection light machine 111 and issues first projected image and second projection light machine
121 issue second projected image；
S120, the input terminal for controlling the first wave guide 112 receive first projected image and the second waveguide
122 input terminal receives second projected image；
S130, the output end for controlling the first wave guide 112 export first projected image to the first calibration phase
Machine 21 and the output end of the second waveguide 122 export second projected image to second calibration camera 22.
In specific embodiment, the first wave guide 112 contains input terminal and output end with the second waveguide 122,
After first projected image that first projection light machine 111 projects enters the input terminal of the first wave guide 112, described
First projected image is exported from output end under the guidance of first wave guide 112, which is transmitted to described first
Ray machine is calibrated, so that first calibration camera 21 be made to obtain first projected image.Similarly, identical side can be passed through
Second projected image of second projection light machine 121 is transferred to second school by the second waveguide 122 by formula
Quasi- camera 22.
Fig. 7 is please referred to, in some alternative embodiments, the calibrating installation applied to augmented reality equipment includes
Calibration screen 40, the calibration screen 40 are set to side of the augmented reality equipment 10 far from the calibration camera 20；The step
S300, comprising:
S310 obtains first position of first projected image on the first calibration image, determines the first displacement
Amount；
Wherein, the first position indicates the position of characteristic point of first projected image on the calibration screen 40,
In preferred embodiment, this feature point is the central point of first projected image.First displacement indicates described first
The relative distance of the characteristic point of projected image and first calibrating position.
S320 obtains the second position of second projected image on the second calibration image, determines second displacement
Amount；
Wherein, the second position indicates the position of characteristic point of second projected image on the calibration screen 40,
In preferred embodiment, this feature point is the central point of second projected image.The second displacement amount indicates described second
The relative distance of the characteristic point of projected image and second calibrating position.
S330 adjusts the first adjustment device 31 and institute according to first displacement and the second displacement amount
Second adjustment device 32 is stated, first projected image is made to be moved to first calibrating position and makes second projected image
It is moved to second calibrating position.
In some alternative embodiments, when the first position and the second position do not move to first school
Level sets and when second calibrating position, indicates first projected image and described second that the controller receives
Projected image is not up to the alignment requirements of image co-registration, by adjusting the first adjustment device 31 and the second adjustment device
32, so that first projected image is carried out mobile and described second projected image according to described the according to first displacement
Two displacements are moved, and first projected image described in first calibration camera 21 is adjusted with second projected image
When the calibrating position of whole to corresponding calibration camera, it is judged as that the image co-registration calibration of the augmented reality equipment 10 is completed.
In a specific embodiment, plane coordinate system is set on calibration screen 40, specifically, the setting calibration screen
40 center is the coordinate origin of the plane coordinate system, and first projection light machine 111 connects with second projection light machine 121
The direction of line is the extending direction of the first reference axis of the plane coordinate system, and it is parallel and with described first to shield 40 with the calibration
The vertical direction of reference axis is the extending direction of second reference axis.
The first position is the first coordinate value, and first coordinate value indicates first projected image described first
The coordinate value for calibrating the characteristic point on image, in preferred embodiment, this feature point is the central point of first projected image.
The second position is the second coordinate value, and second coordinate value is second projected image in second school
The coordinate value of characteristic point on quasi- image, in preferred embodiment, first projected image and the second projected image phase
Together, image co-registration degree is judged with calibration personnel to facilitate.
In another embodiment, first projected image is reticle pattern, the two lines in the reticle pattern
The extending direction of section is parallel respectively at the extending direction of first reference axis and second reference axis, so as to simplification
Error judgment process of the calibration personnel to first projected image.
In some alternative embodiments, by adjusting the first adjustment device 31, first projection can be made
First coordinate value of the image on the first calibration image changes, by adjusting the second adjustment device 32,
Second coordinate value of second projected image on the second calibration image can be made to change.Specifically, pre-
If the coordinate value of first calibrating position and second calibrating position is (4,7), when first coordinate value be (3,
5) when, second coordinate value is (4,9), the first coordinate value can be made to be changed to by adjusting the first adjustment device 31
(4,9) make the second coordinate value be changed to (4,9) by adjusting the second adjustment device 32, to judge first projection
Image is respectively positioned on the calibrating position of the corresponding calibration image with second projected image.
In preferred embodiment, the coordinate value of the calibrating position is (0,0), when first coordinate value is (3,5), institute
When to state the second coordinate value be (4,7), the first adjustment device 31 and the second adjustment device 32 are adjusted separately, makes described the
One coordinate value is adjusted to (0,0), and second coordinate value is adjusted to (0,0), thus in first coordinate value and described second
On the basis of coordinate value is equal, first projected image is made to be respectively positioned on the corresponding calibration figure with second projected image
The center of picture, the position are calibrated for the first augmented reality equipment 11 with the second augmented reality equipment 12 preferred
Position.
In some alternative embodiments, the first augmented reality equipment includes the first projection light machine and first wave
It leads, the second augmented reality equipment includes the second projection light machine and second waveguide, and the step S330 includes:
Position and the angle that first projection light machine 111 is adjusted by the first adjustment device 31, make described first
Projected image is moved to the first calibrating position on the first calibration image；
Position and the angle that second projection light machine 121 is adjusted by the second adjustment device 32, make described second
Projected image is moved to the second calibrating position on the second calibration image.
In some alternative embodiments, the first adjustment device 31 is connect with first projection light machine 111, institute
The first adjustment device 31 is stated for controlling position and the angle of first projection light machine 111；The second adjustment device 32 with
Second projection light machine 121 connects, the second adjustment device 32 be used to control the position of second projection light machine 121 with
Angle；When the position to the projection light machine is adjusted with angle, the projected image of the projection light machine enters waveguide
Size can also change therewith with angle, so as to be adjusted into the projected image of the calibration camera 20, by adjusting first
The projection light machine and the described second projection light machine, by first projected image and second projected image adjust to
The calibrating position of corresponding calibration image, thus realize the image co-registration of first projected image Yu second projected image,
Complete the calibration process of the augmented reality equipment 10.
In some alternative embodiments, the first augmented reality equipment includes the first projection light machine and first wave
It leads, the second augmented reality equipment includes the second projection light machine and second waveguide, the step S330 further include:
Position and the angle that the first wave guide 112 is adjusted by the first adjustment device 31 make first projection
Image is moved to the first calibrating position on the first calibration image；
Position and the angle that the second waveguide 122 is adjusted by the second adjustment device 32 make second projection
Image is moved to the second calibrating position on the second calibration image.
In some alternative embodiments, the first adjustment device 31 is connect with the first wave guide 112, and described
One adjustment device 31 is used to control position and the angle of the first wave guide 112；The second adjustment device 32 and described second
Waveguide 122 connects, and the second adjustment device 32 is used to control position and the angle of the second waveguide 122；To the wave
When the position and angle led are adjusted, the projected image of the waveguide output end output can also change therewith, so as to adjust
The whole projected image into the calibration camera 20, by adjusting the first wave guide 112 and the second waveguide 122, by institute
The first projected image is stated to adjust with second projected image to the calibrating position of corresponding calibration image, to realize described first
The image co-registration of projected image and second projected image completes the calibration process of the augmented reality equipment 10.
In preferred embodiment, first calibrating position is the center of the first calibration image, second calibration
Position is the center of the second calibration image, center vertical line and the first augmented reality equipment due to the calibration screen 40
11 and the 12 line midpoint of the second augmented reality equipment vertical line it is conllinear, therefore when first projected image and described the
When two projected images are located at the center of the first calibration image and the second calibration image, meet user using institute
State the observation habit of augmented reality equipment 10.
In some alternative embodiments, the augmented reality equipment 10 can for off-axis formula augmented reality equipment 10 or
10 geometry waveguide type augmented reality equipment 10 of nest type augmented reality equipment 10 or free curved surface prism formula augmented reality equipment,
In, when the augmented reality equipment 10 do not include waveguide when, the first augmented reality equipment 11 be projected out it is described first throw
Shadow image images on calibration screen 40, second projected image that the second augmented reality equipment 12 is projected out also at
As on calibration screen 40.First calibration camera 21 obtains the picture and first perspective view of the calibration screen 40
Picture, second calibration camera 22 obtain the calibration screen 40 picture and second projected image, by adjusting described the
One adjustment device 31 and the second adjustment device 32, adjust the first augmented reality equipment 11 and second enhancing is existing
The position of real equipment 12 and angle, to realize the calibration to the image co-registration of the augmented reality equipment 10.
In some alternative embodiments, the distance of exit pupil of the calibration camera lens 50 is less than eye relief, to guarantee institute
It states calibration 50 bore of camera lens and does not interfere the augmented reality equipment 10, and the field angle of the calibration camera lens 50 is greater than the increasing
The field angle of the monocular of strong real world devices 10.
In some alternative embodiments, the first augmented reality equipment 11 and the second augmented reality equipment 12
It can be two parts on the same bracket, or two equipment independent.
In some alternative embodiments, the first adjustment device 31 and the second adjustment device 32 can be same
Two parts on one bracket, or two devices independent.
In some alternative embodiments, the calibrating installation applied to augmented reality equipment further includes calibration camera lens
50, the calibration camera lens 50 includes the first calibration camera lens 51 and the second calibration camera lens 52, and the first calibration camera lens 51 is for adjusting
First projected image for entering first calibration camera 21 is saved, the second calibration camera lens 52 is for adjusting described in entrance
Second projected image of second calibration camera 22.Specifically, the calibration camera lens 50 can be directed to specific user group
It is calibrated, it, can be according to myopic degree to first school when user's human eye of the augmented reality equipment 10 is myopia
Quasi- camera lens 51 and it is described second calibration camera lens 52 position individually adjusted, thus make first calibration camera 21 with it is described
Second calibration camera 22 can receive clearly as so that the convenient image for carrying out particular/special requirement to near-sighted user group melts
Close calibration.
It should be understood by those skilled in the art that, embodiments of the present invention can provide as method, system or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the present invention
The form of embodiment.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The foregoing is merely the preferred embodiment of the application, be not intended to limit the scope of the patents of the application, it is all
Under present invention design, using equivalent structure transformation made by present specification and accompanying drawing content, or directly/transport indirectly
In the scope of patent protection that other related technical areas are included in the application.
Claims (12)
1. a kind of calibrating installation applied to augmented reality equipment, which is characterized in that the augmented reality equipment includes the first increasing
Strong real world devices and the second augmented reality equipment,
The calibrating installation applied to augmented reality equipment includes:
Calibration camera, the calibration camera include the first calibration camera and the second calibration camera；First calibration camera and institute
It states the second calibration camera to be arranged side by side, first calibration camera is used to receive the first projection of the first augmented reality equipment
Image；Second calibration camera is used to receive the second projected image of the second augmented reality equipment；
Device is adjusted, the adjustment device includes the first adjustment device and second adjustment device；The first adjustment device and institute
State the connection of the first augmented reality equipment；The second adjustment device is connect with the second augmented reality equipment；
Calibration screen, the calibration screen are set to side of the first augmented reality equipment far from first calibration camera；
Controller, the controller and first calibration camera and second calibration camera communicate to connect.
2. being applied to the calibrating installation of augmented reality equipment as described in claim 1, which is characterized in that first enhancing is existing
The vertical line at real equipment and the second augmented reality equipment line midpoint is conllinear with the center vertical line of the calibration screen.
3. being applied to the calibrating installation of augmented reality equipment as described in claim 1, which is characterized in that described to be applied to enhancing
The calibrating installation of real world devices further include:
Camera lens is calibrated, the calibration camera lens includes the first calibration camera lens and the second calibration camera lens；The first calibration camera lens is set to
Between the first augmented reality equipment and first calibration camera；It is existing that the second calibration camera lens is set to second enhancing
Between real equipment and second calibration camera.
4. being applied to the calibrating installation of augmented reality equipment as claimed in claim 3, which is characterized in that the first calibration mirror
Head is at a distance from the first augmented reality equipment at a distance from the second calibration camera lens and the second augmented reality equipment
It is equal；The optical axis of the first calibration camera lens is conllinear with the central axes of the first augmented reality equipment, the second calibration mirror
The optical axis of head is conllinear with the central axes of the second augmented reality equipment.
5. being applied to the calibrating installation of augmented reality equipment as described in claim 1, which is characterized in that first enhancing is existing
Real equipment includes the first projection light machine and first wave guide, and the second augmented reality equipment includes the second projection light machine and the second wave
It leads；
The first wave guide is set to first projection light machine close to the side of the calibration screen；
The second waveguide is set to second projection light machine close to the side of the calibration screen；
The first wave guide includes first input end and the first output end；
The second waveguide includes the second input terminal and second output terminal；
The projecting direction of first projection light machine is directed toward the first input end；
The information gathering direction of the first calibration camera lens is directed toward first output end；
The projecting direction of second projection light machine is directed toward second input terminal；
The information gathering direction of the second calibration camera lens is directed toward the second output terminal.
6. being applied to the calibrating installation of augmented reality equipment as claimed in claim 5, which is characterized in that the first calibration phase
The resolution ratio of machine is greater than the projected resolution of first projection light machine；The resolution ratio of second calibration camera is greater than described the
The projected resolution of two projection light machines.
7. a kind of calibration method applied to augmented reality equipment, which is characterized in that the augmented reality equipment includes the first increasing
Strong real world devices and the second augmented reality equipment, the calibration method are applied to calibrating installation, and the calibrating installation includes:
Device is adjusted, the adjustment device includes the first adjustment device and second adjustment device；The first adjustment device and institute
State the connection of the first augmented reality equipment；The second adjustment device is connect with the second augmented reality equipment；
Calibration camera, the calibration camera include the first calibration camera and the second calibration camera；
Calibration screen, the calibration screen are set to the side of the augmented reality equipment far from the calibration camera；
The calibration method applied to augmented reality equipment includes:
It controls the first augmented reality equipment and projects the first projected image, control the second enhancing display equipment projection second
Projected image；
First projected image and the first calibration image are acquired by first calibration camera, passes through the second calibration phase
Machine acquires second projected image and the second calibration image, wherein the first calibration image is first calibration
The picture of the collected calibration screen of camera, the second calibration image is the collected calibration of second calibration camera
The picture of screen；
By adjusting the first adjustment device and the second adjustment device, first projected image is made to be moved to the first school
Level is set, and second projected image is made to be moved to the second calibrating position.
8. the use as claimed in claim 7 in the calibration method of augmented reality equipment, which is characterized in that first enhancing is existing
Real equipment includes the first projection light machine and first wave guide, and the second augmented reality equipment includes the second projection light machine and the second wave
It leads, control the first augmented reality equipment projects the first projected image, controls the second enhancing display equipment projection
Second projected image, comprising:
It controls first projection light machine and issues first projected image and second projection light machine sending described second
Projected image；
The input terminal for controlling the first wave guide receives first projected image and the input terminal of the second waveguide receives
Second projected image；
The output end for controlling the first wave guide exports first projected image to first calibration camera and described the
The output end of two waveguides exports second projected image to second calibration camera.
9. the use as claimed in claim 7 in the calibration method of augmented reality equipment, which is characterized in that described by adjusting institute
The first adjustment device and the second adjustment device are stated, first projected image is made to be moved to the first calibrating position, is made described
Second projected image is moved to the second calibrating position, comprising:
First position of first projected image on the first calibration image is obtained, determines the first displacement；
The second position of second projected image on the second calibration image is obtained, determines second displacement amount；
According to first displacement and the second displacement amount, adjusts the first adjustment device and the second adjustment fills
It sets, first projected image is made to be moved to first calibrating position and second projected image is made to be moved to described second
Calibrating position.
10. being applied to the calibration method of augmented reality equipment as claimed in claim 9, which is characterized in that first enhancing
Real world devices include the first projection light machine and first wave guide, and the second augmented reality equipment includes the second projection light machine and second
Waveguide, it is described according to first displacement and the second displacement amount, adjust the first adjustment device and described second
Device is adjusted, so that first projected image is moved to first calibrating position and second projected image is made to be moved to institute
State the second calibrating position, comprising:
Position and the angle that first projection light machine is adjusted by the first adjustment device move first projected image
It moves to the first calibrating position on the first calibration image；
Position and the angle that second projection light machine is adjusted by the second adjustment device move second projected image
It moves to the second calibrating position on the second calibration image.
11. being applied to the calibration method of augmented reality equipment as claimed in claim 9, which is characterized in that first enhancing
Real world devices include the first projection light machine and first wave guide, and the second augmented reality equipment includes the second projection light machine and second
Waveguide, it is described according to first displacement and the second displacement amount, adjust the first adjustment device and described second
Device is adjusted, so that first projected image is moved to first calibrating position and second projected image is made to be moved to institute
State the second calibrating position, further includes:
Position and the angle that the first wave guide is adjusted by the first adjustment device are moved to first projected image
The first calibrating position on the first calibration image；
Position and the angle that the second waveguide is adjusted by the second adjustment device are moved to second projected image
The second calibrating position on the second calibration image.
12. such as the described in any item calibration methods applied to augmented reality equipment of claim 9-11, which is characterized in that described
First calibrating position is the center of the first calibration image, and second calibrating position is in the second calibration image
The heart.
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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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| CN201910489826.1A CN110160749B (en) | 2019-06-05 | 2019-06-05 | Calibration device and calibration method applied to augmented reality equipment |
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| CN110160749B CN110160749B (en) | 2022-12-06 |
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Also Published As
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| CN110160749B (en) | 2022-12-06 |
| WO2020244209A1 (en) | 2020-12-10 |
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