TWI522848B - Pointer device and pointer positioning method thereof - Google Patents
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Description
本發明有關於一種指向裝置的定位方法,且特別是一種手持式指向裝置的游標定位方法。 The invention relates to a positioning method of a pointing device, and in particular to a cursor positioning method of a hand-held pointing device.
手持式指向裝置,因其可藉由分析參考點在感測的影像區域的位置,計算出手持式指向裝置的指向座標,並將此指向點座標傳送至遊戲主機,進行相關遊戲操作,已被廣泛地應用於各類互動式遙控遊戲,例如光槍遊戲、棒球遊戲以及網球遊戲等。 The hand-held pointing device can calculate the pointing coordinate of the hand-held pointing device by analyzing the position of the reference point in the sensed image area, and transmits the pointing point coordinate to the game host to perform related game operations, which has been Widely used in a variety of interactive remote control games, such as light gun games, baseball games and tennis games.
習知裝設於手持式指向裝置的影像感測器與顯示螢幕的距離以及擷取影像時手持式指向裝置的旋轉角度,皆會影響指向座標的計算。因此,為了增加手持式指向裝置的使用手感,手持式指向裝置一般同時會裝設偵測傾斜角度的設備,以適時地偵測手持式指向裝置的旋轉角度,並對應更新手持式指向裝置計算指向座標所使用的傾斜角度。據此,可準確計算判斷手持式指向裝置與參考點之間的相對移動關係,避免發生誤判。 Conventionally, the distance between the image sensor mounted on the hand-held pointing device and the display screen and the angle of rotation of the hand-held pointing device when capturing the image affect the calculation of the pointing coordinate. Therefore, in order to increase the hand-feeling of the hand-held pointing device, the hand-held pointing device is generally equipped with a device for detecting the tilt angle at the same time, so as to timely detect the rotation angle of the hand-held pointing device, and calculate the pointing direction corresponding to the updated hand-held pointing device. The angle of inclination used by the coordinates. According to this, the relative movement relationship between the hand-held pointing device and the reference point can be accurately calculated to avoid misjudgment.
然而,每當手持式指向裝置更新目前使用的傾斜角度時,手持式指向裝置會立即根據所偵測到的傾斜角度以及參考點在影像感測區域內所計算的成像位置對應控制游標移動。從而,會使顯示裝置的畫面上發生游標突然跳點的情況,進而降低使用者的操作手感,同時也造成使用者使用上的不方便。 However, each time the hand-held pointing device updates the currently used tilt angle, the hand-held pointing device immediately controls the cursor movement based on the detected tilt angle and the calculated imaging position of the reference point in the image sensing region. As a result, a sudden jump of the cursor occurs on the screen of the display device, thereby reducing the user's operating feel and causing inconvenience to the user.
有鑑於此,本發明提供一種手持式指向裝置的游標定位方法以及手持式指向裝置,此游標定位方法可主動依據手持式指向裝置更新傾斜角度前、後之間的位移量,對手持式指向裝置所產生的指向座標進行校正,以避免發生跳點情況。 In view of the above, the present invention provides a cursor positioning method for a hand-held pointing device and a hand-held pointing device, which can actively update the amount of displacement between the front and the rear of the tilt angle according to the hand-held pointing device, and the handheld pointing device The resulting pointing coordinates are corrected to avoid jumping points.
本發明實施例提供一種手持式指向裝置的游標定位方法,此游標定位方法包括下列步驟。首先,當手持式指向裝置更新目前使用的第一傾斜角度為第二傾斜角度時,擷取參考點的第一影像框架。其次,根據參考點在第一影像框架中的成像位置以及第一傾斜角度計算第一指向座標。其後,根據參考點在所述第一影像框架中的成像位置以及第二傾斜角度計算第二指向座標。接著,擷取參考點的第二影像框架,以根據參考點在第二影像框架中的成像位置以及第二傾斜角度計算第三指向座標。而後,根據第三指向座標、第一指向座標以及第二指向座標計算游標定位,以相對應地產生控制游標位於顯示裝置的游標參數。 The embodiment of the invention provides a cursor positioning method for a handheld pointing device, and the cursor positioning method comprises the following steps. First, when the hand-held pointing device updates the currently used first tilt angle to the second tilt angle, the first image frame of the reference point is captured. Secondly, the first pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the first tilt angle. Thereafter, the second pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the second tilt angle. Then, the second image frame of the reference point is captured to calculate the third pointing coordinate according to the imaging position of the reference point in the second image frame and the second tilt angle. Then, the cursor positioning is calculated according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate to correspondingly generate the cursor parameter of the control cursor located on the display device.
本發明另一實施例提供一種手持式指向裝置的游標定位方法,此游標定位方法包括下列步驟。首先,當手持式指向裝置更新目前使用的第一傾斜角度為第二傾斜角度時,擷取參考點的第一影像框架。其次,計算第一傾斜角度與第二傾斜角度之間的角度差異。其後,當所計算的角度差異大於一預設角度時,根據參考點在第一影像框架中的成像位置與第一傾斜角度計算第一指向座標。而後,根據參考點在第一影像框架中的成像位置以及第二傾斜角度計算第二指向座標,並對應產生第一指向座標與第二指向座標之間的第一偏移向量。接著,使手持式指向裝置於後續移動時,根據計算的該第一偏移向量並配合手持式指向裝置移動計算的指向座標進行游標的定位計算。隨後,根據計算結果相對應地產生控制游標移動的游標參數。 Another embodiment of the present invention provides a cursor positioning method for a handheld pointing device. The cursor positioning method includes the following steps. First, when the hand-held pointing device updates the currently used first tilt angle to the second tilt angle, the first image frame of the reference point is captured. Next, the difference in angle between the first tilt angle and the second tilt angle is calculated. Thereafter, when the calculated angle difference is greater than a predetermined angle, the first pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the first tilt angle. Then, the second pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the second tilt angle, and correspondingly generates a first offset vector between the first pointing coordinate and the second pointing coordinate. Then, when the hand-held pointing device is moved, the positioning calculation of the cursor is performed according to the calculated first offset vector and the pointing coordinates of the hand-held pointing device movement calculation. Subsequently, a cursor parameter that controls the movement of the cursor is generated correspondingly according to the calculation result.
本發明又一實施例提供一種手持式指向裝置的游標定位方法,此游標定位方法包括下列步驟。首先,使手持式指向裝置在 第一時間,更新目前使用的第一傾斜角度為第二傾斜角度。其次,手持式指向裝置在第一時間分別利用第一傾斜角度、第二傾斜角度計算對應參考點於第一影像框架內的成像位置的第一指向座標與第二指向座標。其後,在第二時間,利用第二傾斜角度計算對應該參考點於第二影像框架的成像位置的第三指向座標,其中第二時間是在第一時間之後。而後,根據第三指向座標、第一指向座標以及第二指向座標,計算游標定位,以相對應地產生控制游標位於顯示裝置的游標參數。 Another embodiment of the present invention provides a cursor positioning method for a handheld pointing device, the cursor positioning method comprising the following steps. First, make the handheld pointing device In the first time, the first tilt angle currently used is updated to be the second tilt angle. Secondly, the handheld pointing device calculates the first pointing coordinate and the second pointing coordinate of the imaging position corresponding to the reference point in the first image frame by using the first tilt angle and the second tilt angle respectively at the first time. Thereafter, at a second time, a third directional coordinate corresponding to the imaging position of the second image frame is calculated using the second tilt angle, wherein the second time is after the first time. Then, according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate, the cursor positioning is calculated to correspondingly generate the cursor parameter of the control cursor located on the display device.
本發明實施例還提供一種手持式指向裝置,此手持式指向裝置包括影像擷取單元、加速度單元以及處理單元。影像擷取單元用以依序擷取參考點的多張影像框架。加速度單元用以感測手持式指向裝置於多軸向的多個加速度值,並對應產生一加速度向量。處理單元耦接影像擷取單元以及加速度單元。處理單元用以根據參考點在該些影像框架的成像位置以及目前使用的第一傾斜角度計算游標定位。 The embodiment of the invention further provides a hand-held pointing device, which comprises an image capturing unit, an acceleration unit and a processing unit. The image capturing unit is configured to sequentially capture multiple image frames of the reference point. The acceleration unit is configured to sense a plurality of acceleration values of the handheld pointing device in multiple axes, and correspondingly generate an acceleration vector. The processing unit is coupled to the image capturing unit and the acceleration unit. The processing unit is configured to calculate the cursor positioning according to the imaging position of the reference frame at the imaging position of the reference frame and the first tilt angle currently used.
當手持式指向裝置根據該些加速度值計算並更新目前使用的第一傾斜角度為一第二傾斜角度時,處理單元驅動影像擷取單元擷取參考點的第一影像框架,並分別利用第一傾斜角度與第二傾斜角度計算對應參考點的第一指向座標及第二指向座標。而後,處理單元驅動影像擷取單元擷取參考點的第二影像框架,並根據參考點在第二影像框架中的成像位置、第一指向座標、第二指向座標以及第二傾斜角度相對應地產生控制游標位於顯示裝置的游標參數。 When the handheld pointing device calculates and updates the currently used first tilt angle as a second tilt angle according to the acceleration values, the processing unit drives the image capturing unit to capture the first image frame of the reference point, and utilizes the first The tilt angle and the second tilt angle calculate a first pointing coordinate and a second pointing coordinate of the corresponding reference point. Then, the processing unit drives the image capturing unit to capture the second image frame of the reference point, and correspondingly according to the imaging position, the first pointing coordinate, the second pointing coordinate, and the second tilting angle of the reference point in the second image frame. A cursor parameter that controls the cursor at the display device is generated.
此外,本發明實施例還提供一種電腦可讀取媒體記錄一組電腦可執行程式,當電腦可讀取記錄媒體被處理器讀取時,處理器可執行上述游標定位方法中的該些步驟。 In addition, an embodiment of the present invention further provides a computer readable medium recording a set of computer executable programs. When the computer readable recording medium is read by the processor, the processor may perform the steps in the cursor positioning method.
綜上所述,本發明實施例提供一種手持式指向裝置以及手持式指向裝置的游標定位方法,且所述手持式指向裝置以及游標定 位方法適用於控制一顯示裝置上游標的移動運作。所述游標定位方法可主動於手持式指向裝置更新傾斜角度後計算游標定位時,對使用更新後的傾斜角度計算的指向座標進行校正,使游標在預定的校正時間或校正次數內由更新前的傾斜角度計算的指向座標逐漸移動至的對應目前手持式指向裝置實際的指向為置。從而,可有效避免發生游標跳點情況,並提高使用者操作上的便利性與穩定性。 In summary, the embodiment of the present invention provides a handheld pointing device and a cursor positioning method of the handheld pointing device, and the handheld pointing device and the cursor are fixed The bit method is suitable for controlling the movement operation of a display device upstream target. The cursor positioning method can actively correct the pointing coordinates calculated by using the updated tilt angle when the cursor positioning is calculated after the handheld pointing device updates the tilt angle, so that the cursor is updated by the predetermined correction time or the number of corrections. The tilting angle calculation of the pointing coordinates gradually moves to the actual pointing position of the current handheld pointing device. Therefore, the occurrence of the cursor jump point can be effectively avoided, and the convenience and stability of the user operation can be improved.
為使能更進一步瞭解本發明之特徵及技術內容,請參閱以下有關本發明之詳細說明與附圖,但是此等說明與所附圖式僅係用來說明本發明,而非對本發明的權利範圍作任何的限制。 The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.
10‧‧‧手持式指向裝置 10‧‧‧Handheld pointing device
11‧‧‧影像擷取單元 11‧‧‧Image capture unit
12‧‧‧加速度單元 12‧‧‧Acceleration unit
13‧‧‧處理單元 13‧‧‧Processing unit
14‧‧‧輸入單元 14‧‧‧ Input unit
15‧‧‧儲存單元 15‧‧‧ storage unit
16‧‧‧通訊單元 16‧‧‧Communication unit
20‧‧‧顯示裝置 20‧‧‧ display device
21‧‧‧參考點 21‧‧‧ Reference point
23、23a~23d、25a、33a~33N、35a‧‧‧游標 23, 23a~23d, 25a, 33a~33N, 35a‧‧ ́s cursor
X、Y、Z‧‧‧軸向 X, Y, Z‧‧‧ axial
‧‧‧偏移向量 ‧‧‧Offset vector
(x1,y1)、(x2,y2)、(x3,y3)‧‧‧指向座標 (x1, y1), (x2, y2), (x3, y3) ‧ ‧ pointing coordinates
、、‧‧‧指向座標 , , ‧‧‧pointing coordinates
d、d1、d2、d3‧‧‧距離 d, d1, d2, d3‧‧‧ distance
F1、F2‧‧‧影像框架 F1, F2‧‧‧ image frame
111、111a、111b‧‧‧操作範圍 111, 111a, 111b‧‧‧Operating range
1111、1111a、1111b‧‧‧操作範圍的中心點 Center point of the operating range of 1111, 1111a, 1111b‧‧
113、113a、113b‧‧‧參考點影像 113, 113a, 113b‧‧‧ reference point image
TA、TB、TC、TD‧‧‧時間點 TA, TB, TC, TD‧‧‧ time points
S301~S317‧‧‧步驟流程 S301~S317‧‧‧Step procedure
S601~S621‧‧‧步驟流程 S601~S621‧‧‧Step procedure
S801~S817‧‧‧步驟流程 S801~S817‧‧‧Step procedure
S901~S919‧‧‧步驟流程 S901~S919‧‧‧Step procedure
圖1是本發明實施例提供的手持式指向裝置應用於互動系統的示意圖。 FIG. 1 is a schematic diagram of a handheld pointing device according to an embodiment of the present invention applied to an interactive system.
圖2是本發明實施例提供的手持式指向裝置的功能方塊示意圖。 2 is a functional block diagram of a handheld pointing device according to an embodiment of the present invention.
圖3是本發明實施例提供的手持式指向裝置的游標定位方法的流程示意圖。 FIG. 3 is a schematic flow chart of a cursor positioning method of a handheld pointing device according to an embodiment of the present invention.
圖4A~圖4B分別是本發明實施例提供的手持式指向裝置移動時感測的參考點的位置示意圖。 4A-4B are schematic diagrams showing positions of reference points sensed when the hand-held pointing device is moved according to an embodiment of the present invention.
圖4C是本發明實施例提供的手持式指向裝置以不同傾斜角度計算的參考點的位置變化示意圖。 FIG. 4C is a schematic diagram showing the position change of the reference point calculated by the hand-held pointing device according to the embodiment of the present invention at different tilt angles.
圖4D是本發明實施例提供的參考點位置與游標在顯示裝置畫面上位置相對關係的示意圖。 FIG. 4D is a schematic diagram showing the relative relationship between the position of the reference point and the position of the cursor on the display device screen according to the embodiment of the present invention.
圖5是本發明實施例提供的游標在顯示裝置畫面上位置變化的示意圖。 FIG. 5 is a schematic diagram of a position change of a cursor on a display device screen according to an embodiment of the present invention.
圖6是本發明實施例提供的手持式指向裝置的游標定位校正方法的流程示意圖。 FIG. 6 is a schematic flowchart of a cursor positioning correction method of a handheld pointing device according to an embodiment of the present invention.
圖7是本發明實施例提供的手持式指向裝置移動游標在顯示裝置畫面上的位置變化的示意圖。 FIG. 7 is a schematic diagram of a position change of a mobile cursor of a handheld pointing device on a display device screen according to an embodiment of the present invention.
圖8是本發明另一實施例提供的手持式指向裝置游標定位方法的流程示意圖。 FIG. 8 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to another embodiment of the present invention.
圖9是本發明再一實施例提供的手持式指向裝置游標定位方法的流程示意圖。 FIG. 9 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to still another embodiment of the present invention.
在下文中,將藉由圖式說明本發明之各種例示實施例來詳細描述本發明。然而,本發明概念可能以許多不同形式來體現,且不應解釋為限於本文中所闡述之例示性實施例。此外,在圖式中相同參考數字可用以表示類似的元件。 In the following, the invention will be described in detail by way of illustration of various exemplary embodiments of the invention. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the illustrative embodiments set forth herein. In addition, the same reference numerals may be used in the drawings to represent similar elements.
本發明之手持式指向裝置可應用於顯示裝置上的游標定位。請參照圖1,圖1繪示本發明實施例提供的手持式指向裝置應用於互動系統的示意圖。所述互動系統包括手持式指向裝置10以及顯示裝置20。所述顯示裝置20另設有參考點21,以供手持式指向裝置10作為操控顯示裝置20畫面上游標23移動的依據。 The hand-held pointing device of the present invention can be applied to cursor positioning on a display device. Please refer to FIG. 1 . FIG. 1 is a schematic diagram of a handheld pointing device according to an embodiment of the present invention applied to an interactive system. The interactive system includes a handheld pointing device 10 and a display device 20. The display device 20 is further provided with a reference point 21 for the hand-held pointing device 10 to act as a basis for manipulating the upstream label 23 of the display device 20.
於本實施例中,顯示裝置20具有可執行與顯示軟體程式的軟體與硬體架構。顯示裝置20可例如但不限於投影顯示裝置、遊戲機顯示螢幕、電視螢幕以及電腦顯示螢幕。然而,於實務上,所述互動系統另可依據實際應用需求包括一主機(未繪示),例如為遊戲主機或電腦主機。主機可用以讀取與執行軟體程式,例如遊戲軟體,如光槍遊戲、棒球遊戲以及網球遊戲等。主機並可將軟體程式的執行狀態顯示於顯示裝置20,以供使用者瀏覽操控。 In the present embodiment, the display device 20 has a software and hardware architecture that can execute and display software programs. Display device 20 can be, for example but not limited to, a projection display device, a gaming machine display screen, a television screen, and a computer display screen. However, in practice, the interactive system may further include a host (not shown) according to actual application requirements, such as a game console or a computer host. The host can be used to read and execute software programs such as game software such as light gun games, baseball games, and tennis games. The host can display the execution status of the software program on the display device 20 for the user to browse and control.
所述參考點21是設置於顯示裝置20的附近,並用以供手持式指向裝置10判斷手持式指向裝置10的指向位置,進而判斷手持式指向裝置10相對於參考點21的移動方向及移動量。 The reference point 21 is disposed in the vicinity of the display device 20, and is used for the handheld pointing device 10 to determine the pointing position of the handheld pointing device 10, thereby determining the moving direction and the moving amount of the handheld pointing device 10 relative to the reference point 21. .
參考點21可以是由多個具特定波長的發光二極體,例如紅外線發光二極體(IR LED)、雷射二極體或紫外光發光二極體排列成各種形狀的參考點來實現。此外,該些發光二極體可以是電性連接顯示裝置20獲取發光所需電源,亦或是由獨立的電源自行供應發光所需電源。另,本實施例僅使用一參考點,但本發明領域具通常知識者亦可視設計需求自行設置參考點21的數量,例如為1個、2個或者是複數個。也就是說,圖1僅用以說明手持式指向裝置10的運作,並非用以限定本發明。 The reference point 21 can be realized by a plurality of light-emitting diodes having a specific wavelength, such as an infrared light-emitting diode (IR LED), a laser diode or an ultraviolet light-emitting diode, arranged in reference points of various shapes. In addition, the light-emitting diodes may be electrically connected to the display device 20 to obtain the power required for illumination, or may be supplied by an independent power source to supply the light. In addition, in this embodiment, only one reference point is used, but the number of reference points 21 can be set by the general knowledge in the field of the invention, for example, one, two or plural. That is, FIG. 1 is only used to illustrate the operation of the handheld pointing device 10 and is not intended to limit the present invention.
手持式指向裝置10會於指向參考點21的位置時,驅動影像擷取單元11依序擷取對應參考點21的多張影像框架。手持式指向裝置10並根據參考點21在該些影像框架的其中之一的成像位置以及手持式指向裝置10目前計算使用的傾斜角度,計算手持式指向裝置10指向顯示裝置20的指向座標。接著,手持式指向裝置10依據指向座標計算顯示裝置20畫面上游標23的游標定位。手持式指向裝置10並將依據參考點21的位置變化所產生控制游標的游標參數,以無線方式傳送至顯示裝置20。據此,手持式指向裝置10可控制顯示裝置20畫面上游標23的顯現位置。 When the handheld pointing device 10 is pointed to the reference point 21, the image capturing unit 11 is driven to sequentially capture a plurality of image frames corresponding to the reference point 21. The handheld pointing device 10 calculates the pointing coordinates of the handheld pointing device 10 pointing to the display device 20 based on the imaging position of the reference point 21 at one of the image frames and the tilt angle currently used by the hand-held pointing device 10. Next, the hand-held pointing device 10 calculates the cursor positioning of the upstream label 23 of the screen of the display device 20 in accordance with the pointing coordinates. The hand-held pointing device 10 and wirelessly transmits the cursor parameters of the control cursor generated according to the change in the position of the reference point 21 to the display device 20. Accordingly, the hand-held pointing device 10 can control the appearance position of the upstream label 23 of the screen of the display device 20.
於本實施例中,手持式指向裝置10可依據參考點21在該些影像框架的成像位置移動變化,決定是否更新手持式指向裝置10目前計算使用的第一傾斜角度(亦即,手持式指向裝置10的旋轉角度)為第二傾斜角度。於一實施方式中,手持式指向裝置10可以是根據參考點21在該些影像框架的成像位置是否發生大幅移動,來判斷手持式指向裝置10目前是處於靜止或移動狀態,據以決定是否更新手持式指向裝置10目前計算使用的傾斜角度。於另一實施方式中,手持式指向裝置10亦可根據參考點21在該些影像框架的成像位置以及該第一傾斜角度所計算出指向座標是否發生大幅移動,來判斷手持式指向裝置10目前是處於靜止或移動狀態,以決定是否更新手持式指向裝置10目前計算使用的傾斜角度。 In this embodiment, the handheld pointing device 10 can change the imaging position of the image frames according to the reference point 21 to determine whether to update the first tilt angle currently used by the handheld pointing device 10 (ie, handheld pointing). The angle of rotation of the device 10 is a second angle of inclination. In an embodiment, the handheld pointing device 10 can determine whether the handheld pointing device 10 is currently in a stationary or moving state according to whether the imaging position of the image frames is greatly moved according to the reference point 21, thereby determining whether to update. The hand-held pointing device 10 currently calculates the tilt angle used. In another embodiment, the handheld pointing device 10 can also determine whether the pointing pointing device 10 is currently calculated according to the imaging position of the image frames and the first tilt angle of the reference point 21 It is in a stationary or moving state to determine whether to update the tilt angle currently used by the handheld pointing device 10.
特別說明的是,所述大幅移動於本發明中是指參考點21或是計算出的指向座標於瞬間(即短時間內,如幾秒、幾毫秒、相鄰兩張或多張連續影像框架內)的移動變化。也就是指,參考點21在該些連續影像框架的成像位置的位移量(即位移變化值)、移動速度或加速度,或者是依據該些連續影像框架所計算的指向座標的位移量、位移速度或加速度等。 In particular, the large movement in the present invention refers to the reference point 21 or the calculated pointing coordinate in an instant (ie, a short time, such as a few seconds, a few milliseconds, two or more consecutive image frames) Inside) changes in movement. That is, the displacement amount (ie, the displacement change value) of the reference point 21 at the imaging position of the continuous image frames, the moving speed or the acceleration, or the displacement amount and the displacement speed of the pointing coordinates calculated according to the continuous image frames. Or acceleration, etc.
手持式指向裝置10於一實施方式中可以是使用一慣性感測器來計算手持式指向裝置10的傾斜角度。然而,當使用者移動手持式指向裝置10時,使用者對手持式指向裝置10的施力會影響慣性感測器判斷重力方向的結果。因此,必須在排除使用者施力的影響之後,才可精確地計算並更新手持式指向裝置10的傾斜角度。也就是,當手持式指向裝置10未被使用者大幅移動(即偵測到參考點21並未大幅移動)時,即可被視為手持式指向裝置10未受外力影響,從而可精確地感測並計算手持式指向裝置10目前的旋轉角度,據以更新手持式指向裝置10目前使用第一傾斜角度為第二傾斜角度。 In one embodiment, the handheld pointing device 10 can use an inertial sensor to calculate the tilt angle of the handheld pointing device 10. However, when the user moves the hand-held pointing device 10, the user's application of the hand-held pointing device 10 affects the result of the inertial sensor determining the direction of gravity. Therefore, the tilt angle of the hand-held pointing device 10 must be accurately calculated and updated after the influence of the user's force is excluded. That is, when the hand-held pointing device 10 is not largely moved by the user (ie, the reference point 21 is detected not to move significantly), it can be considered that the hand-held pointing device 10 is not affected by an external force, thereby accurately sensing The current angle of rotation of the hand-held pointing device 10 is measured and calculated to update the hand-held pointing device 10 to now use the first tilt angle as the second tilt angle.
當手持式指向裝置10決定更新目前使用的第一傾斜角度為第二傾斜角度時,手持式指向裝置10會擷取對應參考點21的第一影像框架。手持式指向裝置10根據目前使用的第一傾斜角度以及參考點21在第一影像框架中的成像位置,計算第一指向座標。手持式指向裝置10會根據第一指向座標計算游標定位,以相對應地產生控制游標23位於顯示裝置20的游標參數。 When the hand-held pointing device 10 determines to update the first tilt angle currently used to be the second tilt angle, the hand-held pointing device 10 captures the first image frame corresponding to the reference point 21. The hand-held pointing device 10 calculates the first pointing coordinate based on the first tilt angle currently used and the imaging position of the reference point 21 in the first image frame. The hand-held pointing device 10 calculates the cursor position based on the first pointing coordinate to correspondingly generate the cursor parameters of the control cursor 23 at the display device 20.
同時,手持式指向裝置10會根據目前使用的第二傾斜角度以及參考點21在第一影像框架中的成像位置計算第二指向座標。而後,當手持式指向裝置10根據參考點21在第二影像框架中的成像位置以及第二傾斜角度計算第三指向座標時,手持式指向裝置10會根據第一指向座標及第二指向座標之間的偏移差異大小(亦即游標23的偏移量),決定是否對後續游標定位計算出的第三指 向座標進行校正補償。 At the same time, the hand-held pointing device 10 calculates the second pointing coordinate according to the second tilt angle currently used and the imaging position of the reference point 21 in the first image frame. Then, when the handheld pointing device 10 calculates the third pointing coordinate according to the imaging position of the reference point 21 in the second image frame and the second tilt angle, the hand-held pointing device 10 according to the first pointing coordinate and the second pointing coordinate The difference between the offset differences (that is, the offset of the cursor 23) determines whether the third finger calculated for the subsequent cursor positioning Correction compensation is performed to the coordinates.
當手持式指向裝置10判斷出第一指向座標及第二指向座標之間的偏移差異大於或等於一第一預設偏移閥值時,手持式指向裝置10會對第三指向座標進行校正補償。手持式指向裝置10會同時根據第三指向座標、第一指向座標以及第二指向座標計算游標定位,以相對應地產生控制游標23位於顯示裝置20的一游標參數。而當手持式指向裝置10判斷出第一指向座標及第二指向座標之間的偏移差異小於第一預設偏移閥值時,手持式指向裝置10會直接根據第三指向座標計算游標定位,以相對應地產生控制游標23位於顯示裝置20的游標參數。 When the hand-held pointing device 10 determines that the offset difference between the first pointing coordinate and the second pointing coordinate is greater than or equal to a first preset offset threshold, the handheld pointing device 10 corrects the third pointing coordinate. make up. The handheld pointing device 10 simultaneously calculates the cursor positioning according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate to correspondingly generate a cursor parameter of the control cursor 23 at the display device 20. When the handheld pointing device 10 determines that the offset difference between the first pointing coordinate and the second pointing coordinate is less than the first preset offset threshold, the handheld pointing device 10 directly calculates the cursor positioning according to the third pointing coordinate. Correspondingly, the cursor parameters of the control cursor 23 located on the display device 20 are generated.
據此,以避免因手持式指向裝置10於更新傾斜角度時,發生跳點情況影響使用者的操作手感。 Accordingly, in the case where the hand-held pointing device 10 updates the tilt angle, the occurrence of a jump point affects the user's operation feeling.
另外,手持式指向裝置10亦可根據目前使用的第一傾斜角度與更新後的第二傾斜角度之間的角度差異大小,決定是否對以更新後的傾斜角度所計算的指向座標進行校正補償。 In addition, the hand-held pointing device 10 can also determine whether to correct the compensation of the pointing coordinates calculated by the updated tilt angle according to the difference in the angle between the currently used first tilt angle and the updated second tilt angle.
舉例來說,當目前使用的第一傾斜角度與更新後的第二傾斜角度計算之間的角度差異大於一預設角度時,手持式指向裝置10即可決定對後續游標定位中使用更新後的傾斜角度所計算的指向座標(亦即第三指向座標)進行校正補償。 For example, when the difference in angle between the currently used first tilt angle and the updated second tilt angle calculation is greater than a predetermined angle, the handheld pointing device 10 may determine to use the updated one for subsequent cursor positioning. The pointing coordinate (ie, the third pointing coordinate) calculated by the tilt angle is corrected for compensation.
而後,當手持式指向裝置10決定需對在更新第一傾斜角度為第二傾斜角度後所計算產生的指向座標進行校正補償時,手持式指向裝置10會在一預設校正時間內或校正次數內完成校正游標定位,使游標23由對應第一傾斜角度的移動路線移動至對應第二傾斜角度的移動路線。從而,可精確地依據手持式指向裝置10相對於顯示裝置20的位置控制顯示裝置20上游標23移動,同時亦避免傾斜角度更新產生跳點影響使用者的操作手感。 Then, when the hand-held pointing device 10 determines that the pointing coordinates calculated after updating the first tilt angle to the second tilt angle are to be corrected, the hand-held pointing device 10 may adjust the number of times within a preset correction time. The correction cursor positioning is completed in the movement, and the cursor 23 is moved from the movement route corresponding to the first inclination angle to the movement route corresponding to the second inclination angle. Therefore, the upstream target 23 movement of the display device 20 can be controlled accurately according to the position of the handheld pointing device 10 relative to the display device 20, while avoiding the tilt angle update to generate a jump point affecting the user's operating feel.
值得一提的是,本實施例之手持式指向裝置10另可依據顯示裝置20所執行軟體程式的狀態以及顯示裝置20的解析度大小, 決定是否於每次更新傾斜角度時,對後續使用更新後的傾斜角度所計算的指向座標進行校正補償(例如對應設定第一預設偏移閥值以及預設角度)以及校正補償方式(例如每次校正的補償量以及預設校正時間)。 It should be noted that the handheld pointing device 10 of the embodiment may further depend on the state of the software program executed by the display device 20 and the resolution of the display device 20. Decide whether to correct the compensation of the pointing coordinates calculated by the subsequent use of the updated tilt angle (for example, correspondingly setting the first preset offset threshold and the preset angle) and correcting the compensation mode (for example, each time the tilt angle is updated) The amount of compensation for the secondary correction and the preset correction time).
具體地說,手持式指向裝置10可預先依據顯示裝置20的解析度大小以及軟體程式的類型儲存多組校正參數。 Specifically, the handheld pointing device 10 can store a plurality of sets of correction parameters in advance according to the resolution of the display device 20 and the type of the software program.
舉例來說,若顯示裝置20所執行軟體程式的類型需要精密控制(例如動態影像畫面)時,則對應設定較小的第一預設偏移閥值及或較小的預設角度的數值,使手持式指向裝置10於更新傾斜角度後,即執行指向座標的校正程序,藉以提高手持式指向裝置10的指向性。 For example, if the type of the software program executed by the display device 20 requires precise control (for example, a motion picture screen), correspondingly setting a smaller first preset offset threshold and a smaller preset angle value, After the hand-held pointing device 10 updates the tilt angle, a calibration procedure for pointing to the coordinates is performed, thereby improving the directivity of the hand-held pointing device 10.
又舉例來說,若顯示裝置20所執行軟體程式的類型所需的精確度較低(例如靜態影像畫面)時,則對應設定較高的第一預設偏移閥值及/或預設角度的數值,使手持式指向裝置10無須於更新傾斜角度後對指向座標進行校正,或是無須每次更新的傾斜角度時,即執行指向座標的校正程序,據以降低校正次數,進而可減少手持式指向裝置10每次計算指向座標的運算複雜度。 For another example, if the accuracy required for the type of the software program executed by the display device 20 is low (for example, a still image screen), the first preset offset threshold and/or the preset angle are set correspondingly. The numerical value is such that the hand-held pointing device 10 does not need to correct the pointing coordinate after updating the tilt angle, or performs the calibration procedure of the pointing coordinate when the tilt angle is not updated every time, thereby reducing the number of corrections, thereby reducing the hand-held The pointing device 10 calculates the computational complexity of the pointing coordinates each time.
而後,於手持式指向裝置10啟動時,手持式指向裝置10可自動與顯示裝置20進行連結,並獲取顯示裝置20目前所執行軟體程式的類型。手持式指向裝置10並根據顯示裝置20目前所執行軟體程式的類型判斷是否需對以更新後的傾斜角度所計算的指向座標進行校正補償以及選取適當的校正參數。從而可提升手持式指向裝置10的實用性以及方便性。 Then, when the hand-held pointing device 10 is activated, the hand-held pointing device 10 can automatically connect with the display device 20 and acquire the type of the software program currently executed by the display device 20. The hand-held pointing device 10 determines whether it is necessary to perform correction compensation on the pointing coordinates calculated with the updated tilt angle and select appropriate correction parameters according to the type of the software program currently executed by the display device 20. Thereby, the utility and convenience of the hand-held pointing device 10 can be improved.
更詳細地說,請參照圖2並同時參照圖1,圖2繪示本發明實施例提供的手持式指向裝置的功能方塊示意圖。手持式指向裝置10包括影像擷取單元11、加速度單元12、處理單元13、輸入單元14、儲存單元15以及通訊單元16。影像擷取單元11、加速度單元12、輸入單元14、儲存單元15以及通訊單元16分別耦接處 理單元13。 In more detail, please refer to FIG. 2 and refer to FIG. 1 at the same time. FIG. 2 is a functional block diagram of a handheld pointing device according to an embodiment of the present invention. The handheld pointing device 10 includes an image capturing unit 11, an acceleration unit 12, a processing unit 13, an input unit 14, a storage unit 15, and a communication unit 16. The image capturing unit 11, the acceleration unit 12, the input unit 14, the storage unit 15, and the communication unit 16 are respectively coupled Unit 13.
值得一提的是,於另一實施方式中,加速度單元12可與影像擷取單元11相互整合,並加速度單元12是透過影像擷取單元11串聯耦接處理單元13。也就是,影像擷取單元11、加速度單元12、輸入單元14、儲存單元15以及通訊單元16的至少其中之一於其他實施方式中與另一元件可以串聯式的耦接處理單元13。 It is worth mentioning that in another embodiment, the acceleration unit 12 can be integrated with the image capturing unit 11 , and the acceleration unit 12 is coupled to the processing unit 13 in series via the image capturing unit 11 . That is, at least one of the image capturing unit 11, the acceleration unit 12, the input unit 14, the storage unit 15, and the communication unit 16 may be coupled to the processing unit 13 in series with another element in other embodiments.
影像擷取單元11用以於手持式指向裝置10指向參考點21時,擷取對應參考點21位置的影像框架,並依序產生多個影像框架(image frame)。具體地說,影像擷取單元11會根據預設的影像取樣頻率(例如每秒200張影像框架)感測參考點21產生的光線,依序產生具該參考點21影像的多個影像框架。 The image capturing unit 11 is configured to capture an image frame corresponding to the position of the reference point 21 when the handheld pointing device 10 is pointed to the reference point 21, and sequentially generate a plurality of image frames. Specifically, the image capturing unit 11 senses the light generated by the reference point 21 according to a preset image sampling frequency (for example, 200 image frames per second), and sequentially generates a plurality of image frames having the reference point 21 image.
影像擷取單元11可透過一濾光單元(未繪示),濾除特定光波之外的光線,使影像擷取單元11僅感測由該參考點21發出的具特定光波的光線。 The image capturing unit 11 filters the light outside the specific light wave through a filter unit (not shown), so that the image capturing unit 11 senses only the light having the specific light wave emitted by the reference point 21.
於本實施例中,影像擷取單元11可以是由電荷偶和元件(charge-coupled device,CCD)影像感測器或互補式金屬氧化物半導體(complementary metal oxide semiconductor,CMOS)影像感測器來實現,於所屬技術領域具有通常知識者可以依據實際使用情況來設計,本實施例在此不加以限制。 In this embodiment, the image capturing unit 11 may be a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. Implementations, those having ordinary knowledge in the technical field can be designed according to actual use, and the embodiment is not limited herein.
加速度單元12用以感測手持式指向裝置10於多軸向(例如X軸向、Y軸向以及Z軸向等)的多個加速度值,並產生加速度向量(acceleration vector)。本實施例的加速度單元12可例如為重力感測器(G-sensor)、加速度計(又稱為加速度規)(accelerometer),且是內建於手持式指向裝置10,當然在其他實施例中,加速度單元12亦可以是透過外掛模組的方式實現。本發明技術領域具有通常知識者可以依據實際使用情況來設計,本實施例並不以此為限。 The acceleration unit 12 is configured to sense a plurality of acceleration values of the hand-held pointing device 10 in multiple axial directions (eg, X-axis, Y-axis, and Z-axis, etc.), and generate an acceleration vector. The acceleration unit 12 of this embodiment may be, for example, a gravity sensor (G-sensor), an accelerometer (also called an accelerometer), and is built in the hand-held pointing device 10, of course in other embodiments. The acceleration unit 12 can also be implemented by means of an external module. The technical field of the present invention can be designed according to the actual use situation, and the embodiment is not limited thereto.
處理單元13用以接收影像擷取單元11產生的該些影像框架,並根據該些影像框架之一計算參考點21在該些影像框架之一 的成像位置。處理單元13並依據參考點21在該些影像框架之一的成像位置以及手持式指向裝置10目前使用的第一傾斜角度進行計算以產生對該參考點的指向座標。處理單元13依據參考點21的指向座標計算顯示裝置20畫面上的游標定位,以產生控制游標的游標參數。隨後,處理單元13將游標參數利用通訊單元16透過無線傳輸方式傳送至顯示裝置20,以配合顯示裝置20所執行的軟體程式(例如遊戲軟體),相對控制游標23在顯示裝置20的動作。 The processing unit 13 is configured to receive the image frames generated by the image capturing unit 11 and calculate the reference point 21 in one of the image frames according to one of the image frames. Imaging position. The processing unit 13 calculates according to the imaging position of the reference point 21 at one of the image frames and the first tilt angle currently used by the hand-held pointing device 10 to generate a pointing coordinate to the reference point. The processing unit 13 calculates the cursor positioning on the screen of the display device 20 according to the pointing coordinates of the reference point 21 to generate a cursor parameter that controls the cursor. Subsequently, the processing unit 13 transmits the cursor parameters to the display device 20 by the communication unit 16 via the wireless transmission method to cooperate with the software program (for example, game software) executed by the display device 20 to relatively control the motion of the cursor 23 on the display device 20.
更具體地說,處理單元13並根據該些影像框架判斷參考點21是否發生位移,亦即參考點21是否大幅移動。當處理單元13判定參考點21並未大幅移動時,即讀取加速度單元12感測手持式指向裝置10於多軸產生的該些加速度值。處理單元13根據該些加速度值計算並更新手持式指向裝置10目前使用的第一傾斜角度為第二傾斜角度。隨後,處理單元13利用第二傾斜角度與參考點21在該些影像框架之一的成像位置對應計算手持式指向裝置10對應顯示裝置20的指向座標,以計算游標定位。 More specifically, the processing unit 13 determines whether the reference point 21 is displaced according to the image frames, that is, whether the reference point 21 moves substantially. When the processing unit 13 determines that the reference point 21 has not moved significantly, the reading acceleration unit 12 senses the acceleration values generated by the hand-held pointing device 10 on multiple axes. The processing unit 13 calculates and updates the first tilt angle currently used by the hand-held pointing device 10 as the second tilt angle according to the acceleration values. Subsequently, the processing unit 13 calculates the pointing coordinates of the handheld pointing device 10 corresponding to the display device 20 by using the second tilt angle and the reference point 21 in the imaging position of one of the image frames to calculate the cursor positioning.
值得一提的是,於一實施方式中,處理單元13可根據加速度單元12感測手持式指向裝置10於X軸向、Y軸向以及Z軸向的多個加速度值,並透過計算任兩軸向之間的夾角,計算出手持式指向裝置10目前旋轉角度,以對應更新目前使用的第一傾斜角度為第二傾斜角度。 It is to be noted that, in an embodiment, the processing unit 13 can sense a plurality of acceleration values of the handheld pointing device 10 in the X-axis, the Y-axis, and the Z-axis according to the acceleration unit 12, and The angle between the axial directions is calculated, and the current rotation angle of the hand-held pointing device 10 is calculated to correspondingly update the first tilt angle currently used as the second tilt angle.
當處理單元13判斷參考點21發生大幅移動時,處理單元13會因判斷加速度單元12無法準確量測手持式指向裝置10而決定不更新手持式指向裝置10目前使用的第一傾斜角度。處理單元13並會繼續利用第一傾斜角度與參考點21在該些影像框架之一的成像位置對應計算手持式指向裝置10對應顯示裝置20的指向座標。處理單元13會依據計算的指向座標相對應地產生控制游標23的游標參數,並利用通訊單元16以無線傳輸方式傳送至顯示裝置20。 When the processing unit 13 determines that the reference point 21 has moved significantly, the processing unit 13 may decide not to update the first tilt angle currently used by the hand-held pointing device 10 by determining that the acceleration unit 12 cannot accurately measure the hand-held pointing device 10. The processing unit 13 will continue to calculate the pointing coordinates of the display device 20 corresponding to the handheld pointing device 10 by using the first tilt angle and the reference point 21 in the imaging position of one of the image frames. The processing unit 13 generates the cursor parameters of the control cursor 23 correspondingly according to the calculated pointing coordinates, and transmits to the display device 20 in a wireless transmission manner by using the communication unit 16.
以下針對處理單元13計算手持式指向裝置10的傾斜角度,如第一傾斜角度與第二傾斜角度的方式做進一步地說明。 The tilt angle of the hand-held pointing device 10, such as the first tilt angle and the second tilt angle, is further described below for the processing unit 13.
舉例來說,影像擷取單元11所產生對應參考點21位置的多個影像框架可為一矩形形狀,且影像框架的長邊是平行於X軸向,而影像框架的短邊是平行於Y軸向。當處理單元13判斷參考點21並未大幅移動時,處理單元13可驅動加速度單元12分別感測手持式指向裝置10於圖1表示的三維空間(three-dimensional space)中X軸向、Y軸向以及Z軸向的加速度值Vx、Vy以及Vz。加速度單元12並可根據感測結果對應產生加速度向量,以產生一加速度感測信號,其中加速度感測信號可代表任兩個加速度值的比,例如加速度值Vx以及加速度值Vy的比。處理單元13會於接收到加速度感測信號時,計算出手持式指向裝置10目前的傾斜角度。 For example, the image frames corresponding to the position of the reference point 21 generated by the image capturing unit 11 may have a rectangular shape, and the long sides of the image frame are parallel to the X axis, and the short sides of the image frame are parallel to Y. Axial. When the processing unit 13 determines that the reference point 21 has not moved significantly, the processing unit 13 can drive the acceleration unit 12 to respectively sense the X-axis and the Y-axis of the handheld pointing device 10 in the three-dimensional space shown in FIG. Acceleration values Vx , Vy, and Vz in the Z and X directions. The acceleration unit 12 can generate an acceleration vector according to the sensing result To generate an acceleration sensing signal, wherein the acceleration sensing signal can represent a ratio of any two acceleration values, such as a ratio of the acceleration value Vx and the acceleration value Vy . The processing unit 13 calculates the current tilt angle of the hand-held pointing device 10 upon receiving the acceleration sensing signal.
更詳細地說,處理單元13可利用下列公式(1)至(3)計算手持式指向裝置10的加速度向量與各軸向之間的夾角,以獲取手持式指向裝置10的目前的傾斜角度,
其中,Vx表示加速度單元12於X軸向感測到的加速度值;Vy表示加速度單元12於Y軸向感測到的加速度值;|gxy|表示根據加速度值Vx以及加速度值Vy計算出的重力加速度值。 Wherein, Vx represents the acceleration value sensed by the acceleration unit 12 in the X-axis; Vy represents the acceleration value sensed by the acceleration unit 12 in the Y-axis; | gxy | represents the gravity calculated from the acceleration value Vx and the acceleration value Vy Acceleration value.
處理單元13並利用公式(1)與公式(2)的計算結果以及公式(4)來校正影像框架,使校正後的影像框架的座標系統與顯示裝置20 的座標系統相同。 The processing unit 13 corrects the image frame by using the calculation results of the formula (1) and the formula (2) and the formula (4) to make the coordinate system of the corrected image frame and the display device 20 The coordinate system is the same.
其中,x表示參考點21在該些影像框架之一的成像位置的X軸座標;y表示參考點21在該些影像框架之一的成像位置的Y軸座標;x'表示修正後參考點21在該些影像框架之一的成像位置的X軸座標;y'表示修正後參考點21在該些影像框架之一的成像位置的Y軸座標。處理單元13進而可根據x'以及y'計算出手持式指向裝置10相對於參考點21或顯示裝置20的指向座標。 Where x represents the X-axis coordinate of the imaging point of the reference point 21 at one of the image frames; y represents the Y-axis coordinate of the reference point 21 at the imaging position of one of the image frames; x ' represents the corrected reference point 21 The X-axis coordinate of the imaging position of one of the image frames; y ' indicates the Y-axis coordinate of the corrected reference point 21 at the imaging position of one of the image frames. The processing unit 13 can in turn calculate the pointing coordinates of the hand-held pointing device 10 relative to the reference point 21 or the display device 20 from x 'and y '.
接著,處理單元13可依據計算的指向座標計算游標定位以相對應地產生控制顯示裝置20上游標23的游標參數。而後,處理單元13將對應於游標23的游標參數或相對移動向量資訊利用通訊單元16傳送至顯示裝置20,以控制游標23在顯示裝置20的動作。 Next, the processing unit 13 may calculate the cursor position according to the calculated pointing coordinates to correspondingly generate the cursor parameters that control the upstream target 23 of the display device 20. Then, the processing unit 13 transmits the cursor parameters or relative motion vector information corresponding to the cursor 23 to the display device 20 by the communication unit 16 to control the motion of the cursor 23 on the display device 20.
值得一提的是,本發明技術領域具有通常知識者應知本發明之手持式指向裝置10所採用的加速度單元12亦可僅用以感測二個維度的加速度值,例如僅用以感測加速度值Vx與Vx。換言之,上述手持式指向裝置10的加速度感測方式僅為一實施方式,本發明並不以此為限。此外,根據一個或多個參考點在所擷取影像中的成像位置計算手持式指向裝置10在顯示裝置20的畫面上的指向座標是屬於習知技術內容,並非本發明主要改善之特徵,故在此不予以贅述。 It should be noted that the acceleration unit 12 used in the hand-held pointing device 10 of the present invention may also be used only to sense acceleration values of two dimensions, for example, only for sensing. Acceleration values Vx and Vx . In other words, the acceleration sensing method of the hand-held pointing device 10 is only an embodiment, and the invention is not limited thereto. In addition, calculating the pointing coordinates of the handheld pointing device 10 on the screen of the display device 20 according to the imaging position of the one or more reference points in the captured image is a prior art content, and is not a major improvement feature of the present invention. I will not repeat them here.
輸入單元14用以供手持式指向裝置10的使用者設定影像取樣頻率以及校正參數,例如預設校正時間、校正次數以及每次游標位置的校正量。舉例來說,使用者可以是根據預設校正時間來設定參考點的影像取樣頻率以及根據該影像取樣頻率設置游標的校正次數。又舉例來說,使用者可以是根據預先設定影像取樣頻率決定游標的校正次數。所述影像取樣頻率可以是依據顯示裝置 20的畫面更新頻率來設定。 The input unit 14 is configured for the user of the handheld pointing device 10 to set the image sampling frequency and the correction parameters, such as the preset correction time, the number of corrections, and the correction amount of each cursor position. For example, the user may set the image sampling frequency of the reference point according to the preset correction time and set the number of corrections of the cursor according to the image sampling frequency. For another example, the user may determine the number of corrections of the cursor according to the preset image sampling frequency. The image sampling frequency may be a display device The screen update frequency of 20 is set.
於實務上,輸入單元14可為一按鍵介面(keypad)、手指導航元件(optical finger navigation device)或一按鍵(button)用以啟動顯示裝置20顯示設定介面,以供使用者設定預設校正時間、影像取樣頻率及/或游標的校正次數。而若手持式指向裝置10具有一手持式顯示螢幕(圖未示)時,亦可由該手持式顯示螢幕顯示該些預設校正時間、影像取樣頻率及/或游標的校正次數與每次校正的補償量。所述手持式顯示螢幕亦可為一觸控螢幕。 In practice, the input unit 14 can be a keypad, an optical finger navigation device, or a button for initiating the display device 20 to display a setting interface for the user to set the preset calibration time. , image sampling frequency and / or the number of corrections of the cursor. If the handheld pointing device 10 has a handheld display screen (not shown), the preset display time, the image sampling frequency, and/or the number of corrections of the cursor may be displayed by the handheld display screen and each time the correction is performed. The amount of compensation. The handheld display screen can also be a touch screen.
儲存單元15可用以儲存上述第一指向座標、第二指向座標、第三指向座標、第一傾斜角度、第二傾斜角度、第一預設偏移閥值、預設角度以及游標參數等手持式指向裝置10運作所需參數。儲存單元15亦可依手持式指向裝置10的運作需求而儲存上述預設校正時間、影像取樣頻率以及游標的校正次數。 The storage unit 15 can be used to store the first pointing coordinate, the second pointing coordinate, the third pointing coordinate, the first tilting angle, the second tilting angle, the first preset offset threshold, the preset angle, and the cursor parameter. The pointing device 10 operates on the required parameters. The storage unit 15 can also store the preset correction time, the image sampling frequency, and the number of corrections of the cursor according to the operation requirements of the handheld pointing device 10.
處理單元13於本實施例中可以是以微控制器(microcontroller)或嵌入式控制器(embedded controller)等處理晶片利用程式碼編譯方式來實現,但本實施例並不限制。儲存單元15可以是利用快閃記憶體晶片、唯讀記憶體晶片或隨機存取記憶體晶片等揮發性或非揮發性記憶晶片來實現,但本實施例並不以此為限。而通訊單元16可以是利用藍芽傳輸方式將移動向量資訊傳送至顯示裝置20,但本實施例並不以此為限。 In this embodiment, the processing unit 13 may be implemented by using a code controller such as a microcontroller or an embedded controller, but the embodiment is not limited. The storage unit 15 can be implemented by using a volatile or non-volatile memory chip such as a flash memory chip, a read-only memory chip, or a random access memory chip, but the embodiment is not limited thereto. The communication unit 16 may transmit the motion vector information to the display device 20 by using a Bluetooth transmission method, but the embodiment is not limited thereto.
要說明的是,本實施例之手持式指向裝置10中的內部元件可依照其功能與設計需求增加、去除、調整或替換,本發明並不受限。換言之,影像擷取單元11、加速度單元12、處理單元13、輸入單元14、儲存單元15以及通訊單元16的種類、實體架構、實施方式及/或連接方式是依據手持式指向裝置10的種類、實體架構、實施方式及/或運作需求來設置,本實施例並不限定。 It should be noted that the internal components in the handheld pointing device 10 of the present embodiment may be added, removed, adjusted or replaced according to their functions and design requirements, and the present invention is not limited. In other words, the types, physical architectures, implementation manners, and/or connection manners of the image capturing unit 11, the acceleration unit 12, the processing unit 13, the input unit 14, the storage unit 15, and the communication unit 16 are based on the type of the handheld pointing device 10, The embodiment is not limited by the physical architecture, the implementation manner, and/or the operational requirements.
本實施例另提供用於手持式指向裝置10更新傾斜角度後的游標定位方法,以對手持式指向裝置10的運作做更具體地說明。請 參照圖3並同時參照圖1、圖2以及圖4A~圖4D。圖3繪示本發明實施例提供的手持式指向裝置的游標定位方法的流程示意圖。圖4A~圖4B繪示本發明實施例提供的手持式指向裝置感測的參考點的位置示意圖。圖4C繪示本發明實施例提供的手持式指向裝置以不同傾斜角度計算的參考點的位置變化示意圖。圖4D繪示本發明實施例提供的參考點位置與游標在顯示裝置畫面上位置相對關係的示意圖。 This embodiment further provides a cursor positioning method for the handheld pointing device 10 to update the tilt angle to more specifically explain the operation of the handheld pointing device 10. please Referring to Figure 3, reference is also made to Figures 1, 2 and 4A-4D. FIG. 3 is a schematic flow chart of a cursor positioning method of a handheld pointing device according to an embodiment of the present invention. 4A-4B are schematic diagrams showing positions of reference points sensed by the handheld pointing device according to an embodiment of the present invention. FIG. 4C is a schematic diagram showing the position change of the reference point calculated by the hand-held pointing device according to the embodiment of the present invention at different tilt angles. FIG. 4D is a schematic diagram showing the relative relationship between the position of the reference point and the position of the cursor on the display device screen according to the embodiment of the present invention.
於步驟S301中,當手持式指向裝置10的處理單元13更新目前使用的第一傾斜角度θ1為第二傾斜角度θ2時,擷取對應參考點21的第一影像框架F1。 In step S301, when the processing unit 13 of the hand-held pointing device 10 updates the currently used first tilt angle θ1 to the second tilt angle θ2, the first image frame F1 corresponding to the reference point 21 is captured.
特別說明的是,處理單元13可以是根據影像擷取單元11擷取對應參考點21位置的多張影像,判斷參考點21於連續影像框架中是否發生大幅移動,來決定是否更新手持式指向裝置10使用的第一傾斜角度θ1為第二傾斜角度θ2。 In particular, the processing unit 13 may determine whether to update the handheld pointing device according to whether the image capturing unit 11 captures multiple images corresponding to the position of the reference point 21 and determines whether the reference point 21 has moved substantially in the continuous image frame. The first inclination angle θ1 used is the second inclination angle θ2.
處理單元13可以是依據該影像擷取單元11擷取對應參考點21位置的影像所產生多個影像框架,來決定是否更新手持式指向裝置10使用的第一傾斜角度θ1為第二傾斜角度θ2。 The processing unit 13 may determine whether to update the first tilt angle θ1 used by the handheld pointing device 10 to the second tilt angle θ2 according to the plurality of image frames generated by the image capturing unit 11 capturing the image corresponding to the position of the reference point 21 . .
於一實施方式中,處理單元13可在計算出參考點21於手持式指向裝置10擷取的任兩張連續影像框架中的成像位置所產生的位移變化小於一預設位移門檻值(例如1個像素)時,更新目前使用第一傾斜角度θ1為第二傾斜角度θ2。於又一實施方式中,處理單元13可在計算出參考點21於手持式指向裝置擷取的任兩張連續影像框架中的成像位置所產生的速度變化小於一預設速度門檻值(例如1個像素/單位時間)時,更新目前使用第一傾斜角度θ1為第二傾斜角度θ2。於再一實施方式中,處理單元13亦可是在感測到手持式指向裝置10於多軸向的該些加速度值所產生加速度向量(acceleration vector)大小(magnitude)等於手持式指向裝置10的一重力加速度值(g)時,更新目前使用第一傾斜角度θ1為第二傾斜角 度θ2。 In one embodiment, the processing unit 13 may calculate a displacement change generated by the imaging position of the reference point 21 in any two consecutive image frames captured by the handheld pointing device 10 by less than a preset displacement threshold (eg, 1). At the time of the pixel, the update currently uses the first tilt angle θ1 as the second tilt angle θ2. In still another embodiment, the processing unit 13 may calculate a speed change generated by the imaging position of the reference point 21 in any two consecutive image frames captured by the handheld pointing device by less than a preset speed threshold (eg, 1). At the time of pixel/unit time, the update currently uses the first tilt angle θ1 as the second tilt angle θ2. In still another embodiment, the processing unit 13 may also sense that an acceleration vector generated by the acceleration values of the handheld pointing device 10 in multiple axes is equal to one of the handheld pointing devices 10 . When the gravitational acceleration value (g) is updated, the first inclination angle θ1 is currently used as the second inclination angle. Degree θ2.
換言之,處理單元13會在判斷出參考點21並未大幅移動(亦即手持式指向裝置10目前處於靜止狀態)時,主動讀取加速度單元12感測手持式指向裝置10於多個軸向(例如X軸向、Y軸向以及Z軸向)的多個加速度值,以更新目前使用第一傾斜角度θ1為第二傾斜角度θ2。 In other words, when the processing unit 13 determines that the reference point 21 has not moved significantly (ie, the hand-held pointing device 10 is currently in a stationary state), the active reading acceleration unit 12 senses the hand-held pointing device 10 in multiple axial directions ( For example, a plurality of acceleration values of the X-axis, the Y-axis, and the Z-axis are updated to use the first inclination angle θ1 as the second inclination angle θ2.
於步驟S303中,處理單元13會根據參考點21在第一影像框架F1中的成像位置以及第一傾斜角度θ1計算第一指向座標。如圖4A所示,第一指向座標表示手持式指向裝置10在擷取的第一影像框架F1中對應顯示裝置20的指向位置向量,且第一指向座標為(x1,y1)。 In step S303, the processing unit 13 calculates the first pointing coordinate according to the imaging position of the reference point 21 in the first image frame F1 and the first tilt angle θ1. . As shown in Figure 4A, the first pointing coordinate Representing the pointing position vector of the handheld pointing device 10 corresponding to the display device 20 in the captured first image frame F1, and the first pointing coordinate Is (x1, y1).
處理單元13並會根據第一指向座標計算游標定位,相對應地產生控制游標23位於顯示裝置20的游標參數。隨後,處理單元13利用通訊單元16將游標參數以無線方式傳送至顯示裝置20,以對應控制游標23顯示裝置20上的位置。 The processing unit 13 calculates the cursor position according to the first pointing coordinate, and correspondingly generates the cursor parameter of the control cursor 23 located on the display device 20. Subsequently, the processing unit 13 wirelessly transmits the cursor parameters to the display device 20 using the communication unit 16 to correspondingly control the position on the display device 20 of the cursor 23.
附帶說明的是,第一指向座標的計算方式如下。首先,處理單元13根據第一影像框架F1的中心點”+”與參考點影像113在第一影像框架F1中的成像位置,定義出映射在第一影像框架F11中對應於顯示裝置20的操作範圍111。所述操作範圍111是以一預設顯示比例對應於顯示裝置20,且操作範圍111是處理單元13以參考點影像113做原點,並依據預設顯示比例定義於第一影像框架F1。處理單元13亦可進一步定義出操作範圍111的中心點1111,以利用操作範圍111的中心點1111作為原點並配合手持式指向裝置10的第一傾斜角度θ1,利用上述公式(1)~(4)來計算第一影像框架F1的中心點”+”在操作範圍111的指向位置向量,以獲取第一指向座標。 Incidentally, the first pointing coordinate The calculation is as follows. First, the processing unit 13 defines an operation corresponding to the display device 20 mapped in the first image frame F11 according to the imaging position of the center point "+" of the first image frame F1 and the reference point image 113 in the first image frame F1. Range 111. The operation range 111 corresponds to the display device 20 with a preset display ratio, and the operation range 111 is that the processing unit 13 uses the reference point image 113 as an origin and is defined in the first image frame F1 according to the preset display ratio. The processing unit 13 may further define a center point 1111 of the operating range 111 to utilize the center point 1111 of the operating range 111 as an origin and cooperate with the first tilt angle θ1 of the hand-held pointing device 10, using the above formula (1)~( 4) Calculate the pointing position vector of the center point "+" of the first image frame F1 in the operating range 111 to obtain the first pointing coordinate .
值得注意的是,在獲取該第一指向座標時,不以定義中心點1111為必要,亦可直接根據第一影像框架F1的中心點”+”與 參考點影像113在第一影像框架F1中的成像位置之相對關係或參考點影像113的成像特徵,計算出對應的旋轉角度,進而獲取該第一指向座標。 It is worth noting that the first pointing coordinate is obtained. When it is not necessary to define the center point 1111, the relative relationship between the center point "+" of the first image frame F1 and the imaging position of the reference point image 113 in the first image frame F1 or the reference point image 113 may be directly Imaging features, calculating a corresponding rotation angle, and then acquiring the first pointing coordinate .
所述中心點”+”於本實施例中為影像擷取單元11中感測陣列的中心。換言之,第一指向座標表示影像擷取單元11中感測陣列的中心(即中心點”+”)在第一影像框架F1中對應於顯示裝置20的座標系統的指向座標位置。 The center point "+" is the center of the sensing array in the image capturing unit 11 in this embodiment. In other words, the first pointing coordinate The center of the sensing array in the image capturing unit 11 (ie, the center point "+") is indicated in the first image frame F1 corresponding to the pointing coordinate position of the coordinate system of the display device 20.
於步驟S305中,處理單元13會根據參考點21在第一影像框架F1中的成像位置以及第二傾斜角度θ2,計算第二指向座標。 In step S305, the processing unit 13 calculates the second pointing coordinate according to the imaging position of the reference point 21 in the first image frame F1 and the second tilt angle θ2. .
如圖4B所示,第二指向座標表示影像擷取單元11中感測陣列的中心點”+”在顯示裝置20映射於第一影像框架F1操作範圍111a的指向位置向量,且第二指向座標為(x2,y2)。第二指向座標是處理單元13利用操作範圍111a的中心點1111a作為原點以及第二傾斜角度θ2,來計算第一影像框架F1的中心點”+”在操作範圍111a的指向位置向量,其中操作範圍111a是根據參考點影像113a所定義的。 As shown in FIG. 4B, the second pointing coordinate Representing the center point "+" of the sensing array in the image capturing unit 11 at the pointing position vector of the display device 20 mapped to the first image frame F1 operating range 111a, and the second pointing coordinate Is (x2, y2). Second pointing coordinate The processing unit 13 calculates the pointing position vector of the center point "+" of the first image frame F1 in the operating range 111a by using the center point 1111a of the operating range 111a as the origin and the second tilting angle θ2, wherein the operating range 111a is based on The reference point image 113a is defined.
處理單元13據此可根據第一指向座標以及第二指向座標計算更新傾斜角度後的指向座標於同一影像框架中的第一偏移向量,如圖4C所示。處理單元13並會將第一偏移向量儲存於儲存單元15。 The processing unit 13 can be based on the first pointing coordinate And the second pointing coordinate Calculate the first offset vector that points to the same image frame after updating the tilt angle , as shown in Figure 4C. Processing unit 13 will also first offset vector Stored in the storage unit 15.
於步驟S307中,擷取具參考點21的第二影像框架F2,以根據參考點21在第二影像框架F2中的成像位置以及第二傾斜角度θ2計算第三指向座標。所述第二影像框架F2的擷取時間晚於上述第一影像框架F1的擷取時間。如圖4D所示,第三指向座標表示影像擷取單元11中感測陣列的中心點”+”在顯示裝置20映射於第二影像框架F2操作範圍111b的指向位置向量,且第三指向座標為(x3,y3),其中操作範圍111b是根據參考點 影像113b所定義的。 In step S307, the second image frame F2 with the reference point 21 is taken to calculate the third pointing coordinate according to the imaging position of the reference point 21 in the second image frame F2 and the second tilt angle θ2. . The extraction time of the second image frame F2 is later than the extraction time of the first image frame F1. As shown in Figure 4D, the third pointing coordinate Representing the center point "+" of the sensing array in the image capturing unit 11 at the pointing position vector of the display device 20 mapped to the second image frame F2 operating range 111b, and the third pointing coordinate It is (x3, y3), wherein the operation range 111b is defined according to the reference point image 113b.
隨後,於步驟S309,處理單元13判斷第一傾斜角度θ1與第二傾斜角度θ2之間的角度差異θd是否小於預設角度(例如20度)。當處理單元13判斷角度差異θd小於預設角度(例如20度)時,執行步驟S313。反之,當處理單元13判斷角度差異θd大於預設角度(例如20度)時,則執行步驟S311。 Subsequently, in step S309, the processing unit 13 determines whether the angle difference θd between the first tilt angle θ1 and the second tilt angle θ2 is smaller than a preset angle (for example, 20 degrees). When the processing unit 13 determines that the angle difference θd is smaller than the preset angle (for example, 20 degrees), step S313 is performed. On the other hand, when the processing unit 13 determines that the angle difference θd is greater than the preset angle (for example, 20 degrees), step S311 is performed.
於步驟S311,處理單元13判斷第一指向座標以及第二指向座標之間的第一偏移向量是否小於第一預設偏移閥值(例如10像素)。當處理單元13判斷第一偏移向量小於第一預設偏移閥值(例如10個像素)時,執行步驟S315。反之,當處理單元13判斷第一偏移向量大於第一預設偏移閥值時,則執行步驟S313。所述第一預設偏移閥值可以是依據預設角度差異來設置,例如為對應20度角度差異的像素值。 In step S311, the processing unit 13 determines the first pointing coordinate And the second pointing coordinate First offset vector between Whether it is less than the first preset offset threshold (for example, 10 pixels). When the processing unit 13 determines the first offset vector When it is less than the first preset offset threshold (for example, 10 pixels), step S315 is performed. Conversely, when processing unit 13 determines the first offset vector When it is greater than the first preset offset threshold, step S313 is performed. The first preset offset threshold may be set according to a preset angle difference, for example, a pixel value corresponding to a 20 degree angle difference.
於步驟S313中,處理單元13根據第三指向座標、第一指向座標以及第二指向座標計算游標定位。具體地說,處理單元13根據第三指向座標以及第一偏移向量產生補償後的第三指向座標。而後,處理單元13依據補償後的第三指向座標計算游標定位,以補償第一指向座標與第二指向座標之間的偏移量。 In step S313, the processing unit 13 is based on the third pointing coordinate. First pointing coordinate And the second pointing coordinate Calculate cursor positioning. Specifically, the processing unit 13 is based on the third pointing coordinate And the first offset vector Generate the compensated third pointing coordinate . Then, the processing unit 13 is based on the compensated third pointing coordinate Calculate cursor positioning to compensate for the first pointing coordinate With the second pointing coordinate The offset between.
補償後的第三指向座標的計算公式(5)如下:
其中,表示補償後的第三指向座標;表示第三指向座標;表示第一偏移向量。 among them, Representing the compensated third pointing coordinate; Indicates a third pointing coordinate; Represents the first offset vector.
於步驟S315中,處理單元13直接根據第三指向座標計算游標定位。換言之,當處理單元13判斷出角度差異θd小於預設角度以及第一偏移向量小於第一預設偏移閥值時,處理單元13不對第三指向座標進行補償,而是直接根據第三指向座 標計算游標定位。 In step S315, the processing unit 13 directly according to the third pointing coordinate Calculate cursor positioning. In other words, when the processing unit 13 determines that the angle difference θd is smaller than the preset angle and the first offset vector When the first preset offset threshold is less than the first preset offset threshold, the processing unit 13 does not have the third pointing coordinate Compensate, but directly according to the third pointing coordinate Calculate cursor positioning.
隨後,於步驟S317中,處理單元13根據步驟S313或步驟S315的游標定位計算結果,相應地產生控制游標23移動的游標參數。處理單元13並利用通訊單元16將游標參數以無線方式傳送至顯示裝置20,以對應控制游標23移動。 Subsequently, in step S317, the processing unit 13 generates a cursor parameter that controls the movement of the cursor 23 according to the cursor positioning calculation result of step S313 or step S315. The processing unit 13 uses the communication unit 16 to wirelessly transmit the cursor parameters to the display device 20 to correspondingly control the movement of the cursor 23.
值得一提的是,如圖4D所示第三指向座標位於第一影像框架F2的操作範圍111內,故而顯示裝置20會於接收游標參數時,根據其顯示比例對應設置游標23於畫面上的顯示位置。因此,當手持式指向裝置10驅動通訊單元16傳送控制游標23的游標參數與預設顯示比例至顯示裝置20時,顯示裝置20則會將根據目前的顯示比例(亦即顯示裝置20的解析度),計算出游標23於顯示裝置20畫面上的顯示位置。於所屬技術領域具通常知識者應知顯示裝置20根據目前的顯示比與游標參數計算標23於顯示裝置20畫面上的位置的方式,故不在此贅述。 It is worth mentioning that the third pointing coordinate is shown in Figure 4D. Located in the operation range 111 of the first image frame F2, the display device 20 sets the display position of the cursor 23 on the screen according to the display ratio when receiving the cursor parameter. Therefore, when the handheld pointing device 10 drives the communication unit 16 to transmit the cursor parameter of the control cursor 23 and the preset display ratio to the display device 20, the display device 20 will be based on the current display ratio (ie, the resolution of the display device 20). The display position of the cursor 23 on the screen of the display device 20 is calculated. It will be apparent to those skilled in the art that the display device 20 calculates the position of the target 23 on the screen of the display device 20 based on the current display ratio and the cursor parameters, and thus will not be described herein.
特別說明的是,所述參考點影像113、113a以及113b於本文中如圖4A~4C分別是以一圓點來表示,但參考點影像113、113a以及113b亦可以十字或星號等來表示,本實施例並不限制。另外,若圖2中的互動系統使用兩個或兩個以上的參考點21的,則可以影像框架中該些參考點影像的位置之間的平均座標來做為影像框架中本實施例中參考點影像113、113a以及113b的位置。手持式指向裝置10的處理單元13可利用成像距離參數計算出參考點影像與預設成像距離參數之間的比例方式以補償因攝像距離不同造成的位置定位偏差。本發明領域具通常知識者應知何設定預設成像參數與預設成像距離參數以及利用預設成像參數與預設成像距離參數對參考點影像113、113a以及113b的位置計算結果進行補償,故不再此贅述。 Specifically, the reference point images 113, 113a, and 113b are respectively represented by a dot in FIGS. 4A to 4C, but the reference point images 113, 113a, and 113b may also be represented by a cross or an asterisk or the like. This embodiment is not limited. In addition, if the interactive system in FIG. 2 uses two or more reference points 21, the average coordinate between the positions of the reference point images in the image frame can be used as the reference in the embodiment in the image frame. The positions of the spots 113, 113a, and 113b. The processing unit 13 of the handheld pointing device 10 can calculate the ratio between the reference point image and the preset imaging distance parameter by using the imaging distance parameter to compensate for the positional positioning deviation caused by the difference in imaging distance. Those skilled in the art should know how to set the preset imaging parameters and the preset imaging distance parameters, and compensate the position calculation results of the reference point images 113, 113a and 113b by using the preset imaging parameters and the preset imaging distance parameters. I will not repeat this.
為了更清楚說明上述用於手持式指向裝置10之游標定位方法的運作方式。請參照圖5並同時參照圖1,圖5繪示本發明實施例 提供的游標在顯示裝置畫面上位置變化的示意圖。 In order to more clearly illustrate the operation of the above-described cursor positioning method for the hand-held pointing device 10. Please refer to FIG. 5 and refer to FIG. 1 simultaneously. FIG. 5 illustrates an embodiment of the present invention. A schematic diagram of the position of the provided cursor on the display device screen.
游標23a的位置是對應手持式指向裝置10於時間點TA利用第一傾斜角度θ1所計算的指向座標。游標23b的位置是對應手持式指向裝置10於時間點TB利用第一傾斜角度θ1所計算的指向座標。游標23c的位置是對應手持式指向裝置10於時間點TC利用第一傾斜角度θ1所計算的指向座標。在時間點TC,手持式指向裝置10同時更新第一傾斜角度θ1為第二傾斜角度θ2,並以第一傾斜角度θ1與第二傾斜角度θ2分別計算的第一指向座標以及第二指向座標之間第一偏移向量。游標23d則是對應手持式指向裝置10在時間點TD利用第二傾斜角度θ2以及更新傾斜角度後所記錄的第一偏移向量所計算產生補償後的第三指向座標。游標25a的位置是對應於手持式指向裝置10利用第二傾斜角度θ2所計算的指向座標。也就是,在手持式指向裝置10更新傾斜角度後,若未對計算的指向座標進行補償時,則游標的位置會對應游標25a在顯示裝置20上的位置。如圖5所示,若未對計算的指向座標進行補償,即會發生游標23c跳至游標25a位置的情況,進而降低使用者的操作手感。 The position of the cursor 23a is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TA using the first tilt angle θ1. The position of the cursor 23b is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TB using the first tilt angle θ1. The position of the cursor 23c is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TC using the first tilt angle θ1. At the time point TC, the hand-held pointing device 10 simultaneously updates the first tilt angle θ1 to the second tilt angle θ2, and the first pointing coordinate calculated by the first tilt angle θ1 and the second tilt angle θ2, respectively. And the second pointing coordinate First offset vector . The cursor 23d is corresponding to the first offset vector recorded by the hand-held pointing device 10 after using the second tilt angle θ2 and updating the tilt angle at the time point TD. Calculated to produce a compensated third directional coordinate . The position of the cursor 25a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the second tilt angle θ2. That is, after the hand-held pointing device 10 updates the tilt angle, if the calculated pointing coordinate is not compensated, the position of the cursor corresponds to the position of the cursor 25a on the display device 20. As shown in FIG. 5, if the calculated pointing coordinates are not compensated, the cursor 23c jumps to the position of the cursor 25a, which reduces the user's operating feel.
因此,藉由本實施例之方法於計算游標定位過程中,對更新傾斜角度後所計算的指向座標依據更新傾斜角度產生的偏移量進行補償,使游標由游標25a的位置移動一距離d至游標23d的位置,可有效地避免發生跳點情況。 Therefore, in the process of calculating the cursor positioning by the method of the embodiment, the offset of the pointing coordinate calculated by updating the tilt angle is compensated according to the updated tilt angle, so that the cursor is moved by the position of the cursor 25a by a distance d to the cursor. The 23d position can effectively avoid jumping points.
綜上所述,本實施例的手持式指向裝置10可於更新使用的第一傾斜角度θ1為第二傾斜角度θ2後,判斷是否需要對以第二傾斜角度θ2所計算的指向座標進行補償(例如游標跳點狀況在顯示裝置20畫面上是否明顯)。當手持式指向裝置10決定對以第二傾斜角度θ2所計算的指向座標進行補償時,根據第一傾斜角度θ1為第二傾斜角度θ2之間偏移差異對後續計算的指向座標。 In summary, the handheld pointing device 10 of the present embodiment can determine whether the pointing coordinate calculated by the second tilt angle θ2 needs to be compensated after the first tilt angle θ1 used for updating is the second tilt angle θ2 ( For example, whether the cursor jump condition is apparent on the display device 20 screen). When the hand-held pointing device 10 decides to compensate the pointing coordinates calculated by the second tilt angle θ2, the first tilt angle θ1 is the pointing coordinate of the subsequent calculation based on the difference in offset between the second tilt angles θ2.
為了提高使用者的操作手感,並精確地控制游標移動,本實 施例另提供一種游標定位校正補償方法。所述游標定位校正補償方法可使游標平順地在預設校正時間或預設校正次數內由目前行驟路徑移動至更新傾斜角度後手持式指向裝置10目前實際移動的路徑,藉以避免發生跳點情況並維持指向性。 In order to improve the user's operating feel and accurately control the movement of the cursor, this is the real The embodiment further provides a cursor positioning correction compensation method. The cursor positioning correction compensation method can smoothly move the cursor from the current path to the updated tilt angle within the preset correction time or the preset correction time, and then the path of the handheld pointing device 10 is actually moved to avoid the jump point. The situation and maintain directivity.
以下針對上述游標定位校正補償方法的執行流程細節做進一步地說明。請同時參照圖6以及圖7並配合參照圖2,圖6繪示本發明實施例提供的手持式指向裝置的游標定位校正方法的流程示意圖。圖7是本發明實施例提供的手持式指向裝置移動游標在顯示裝置畫面上的位置變化的示意圖。 The details of the execution flow of the cursor positioning correction compensation method described above are further explained below. Referring to FIG. 6 and FIG. 7 together with FIG. 2, FIG. 6 is a schematic flowchart diagram of a cursor positioning correction method of a hand-held pointing device according to an embodiment of the present invention. FIG. 7 is a schematic diagram of a position change of a mobile cursor of a handheld pointing device on a display device screen according to an embodiment of the present invention.
於步驟S601中,當處理單元13更新第一傾斜角度θ1為第二傾斜角度θ2時,處理單元13隨即啟動游標校正程序,以使手持式指向裝置10進入游標校正模式。 In step S601, when the processing unit 13 updates the first tilt angle θ1 to the second tilt angle θ2, the processing unit 13 then starts the cursor correction program to cause the handheld pointing device 10 to enter the cursor correction mode.
於步驟S603中,處理單元13設定預設校正次數為N、補償向量為C以及校正座標。所述校正座標為需補償的指向座標,例如為根據參考點(未繪示)在擷取的第二影像框架F2的成像位置以及第二傾斜角度θ2所計算的第三指向座標。處理單元13並會將校正次數為N、補償向量為C以及校正座標暫存於儲存單元15。 In step S603, the processing unit 13 sets the preset correction times to N, the compensation vector to C, and the correction coordinates. . Correction coordinate The pointing coordinate to be compensated is, for example, a third pointing coordinate calculated according to the imaging position of the captured second image frame F2 and the second tilt angle θ2 according to a reference point (not shown). . The processing unit 13 will also set the number of corrections to N, the compensation vector to C, and the correction coordinates. Temporarily stored in the storage unit 15.
處理單元13並判斷第一偏移向量是否大於第二預設偏移閥值。若處理單元13判斷第一偏移向量大於第二預設偏移閥值,則設定N為第一偏移向量除以C,其中C為一預設補償值;若處理單元13判斷第一偏移向量小於第二預設偏移閥值時,則設定C為第一偏移向量除以N,其中N為一預設校正次數。 Processing unit 13 and determining the first offset vector Whether it is greater than the second preset offset threshold. If the processing unit 13 determines the first offset vector If it is greater than the second preset offset threshold, set N to the first offset vector Divided by C, where C is a preset compensation value; if processing unit 13 determines the first offset vector When it is less than the second preset offset threshold, then C is set as the first offset vector. Take N, where N is a preset number of corrections.
值得一提的是,所述第二預設偏移閥值與第一預設偏移閥值可依據手持式指向裝置10的實際操作需求與顯示裝置20所執行軟體程式的類型而被設為相同或不相同。 It should be noted that the second preset offset threshold and the first preset offset threshold may be set according to the actual operation requirements of the handheld pointing device 10 and the type of the software program executed by the display device 20. Same or different.
簡言之,當第一偏移向量大於第二預設偏移閥值,即表示角度變化較大且所需的補償向量較大,處理單元13會自動選擇以 固定補償量慢慢地校正補償指向座標,以避免發生跳點情況而降低使用者的操作手感。當第一偏移向量小於第二預設偏移閥值即表示角度變化較小,處理單元13則會自動選擇在預先設定的校正次數內快速校正指向座標。 In short, when the first offset vector If the angle is greater than the second preset offset threshold, that is, the angle change is large and the required compensation vector is large, the processing unit 13 automatically selects to slowly correct the compensation pointing coordinate with a fixed compensation amount to avoid a jump point situation. Reduce the user's operating feel. When the first offset vector Less than the second preset offset threshold means that the angle change is small, and the processing unit 13 automatically selects to quickly correct the pointing coordinate within the preset number of corrections.
接著,當處理單元13決定根據第一偏移向量以及N,來獲得C時,處理單元13可以下列公式計算C:
其中,C表示補償向量;表示第一偏移向量;表示第一指向座標;表示第二指向座標;N表示預設校正次數,且為預設固定值。如公式(6)所示,N越大即表示每一次補償向量C會越小;而N越小即表示每一次所補償向量C會越大。 Where C represents the compensation vector; Representing a first offset vector; Indicates the first pointing coordinate; Indicates the second pointing coordinate; N indicates the preset number of corrections, and is a preset fixed value. As shown in the formula (6), the larger N is, the smaller the compensation vector C is, and the smaller N is, the larger the compensation vector C is.
舉例來說,處理單元13可以是根據使用者透過輸入單元14提供的操作介面輸入的影像取樣頻率或預設時間來設定N。於一實施方式中,使用者可例如根據影像取樣頻率而設定在五個影像框架內完成游標校正程序,則處理單元13會對應設置N為5並依據N以及第一偏移向量計算C。而於另一實施方式中,使用者可例如是設定一預設校正時間為5秒(亦即使手持式指向裝置10在5秒內完成游標校正程序)以及影像取樣頻率為每秒5張影像框架,則處理單元13會對應設置N為25並依據N以及第一偏移向量計算C。 For example, the processing unit 13 may set N according to an image sampling frequency or a preset time input by the user through the operation interface provided by the input unit 14. In an embodiment, the user can set the cursor correction program in five image frames according to the image sampling frequency, for example, the processing unit 13 correspondingly sets N to 5 and according to N and the first offset vector. Calculate C. In another embodiment, the user can set, for example, a preset correction time of 5 seconds (even if the handheld pointing device 10 completes the cursor calibration procedure within 5 seconds) and the image sampling frequency is 5 image frames per second. The processing unit 13 correspondingly sets N to 25 and according to N and the first offset vector. Calculate C.
當處理單元13決定根據第一偏移向量以及C,來獲得N時,處理單元13可以下列公式計算N:
其中,C表示補償向量,且為一預設固定值;表示第一偏移向量;表示第一指向座標;表示第二指向座標;N表示校正次數。如公式(7)所示,C越大即表示校正次數N會越小; 而C越小即表示校正次數N會越大。 Where C represents a compensation vector and is a preset fixed value; Representing a first offset vector; Indicates the first pointing coordinate; Indicates the second pointing coordinate; N indicates the number of corrections. As shown in the formula (7), the larger the C, the smaller the number of corrections N will be; and the smaller the C, the larger the number of corrections N will be.
舉例來說,處理單元13可以是根據使用者透過輸入單元14提供的操作介面輸入顯示裝置20的解析度來設定C。於一實施方式中,使用者可例如根據顯示裝置20的解析度而設定每次僅校正一度,其中每一度為三個像素單位,則處理單元13會設定C為3並依據C第一偏移向量計算N。 For example, the processing unit 13 may set C according to the resolution of the user inputting the display device 20 through the operation interface provided by the input unit 14. In one embodiment, the user can set only one degree at a time according to the resolution of the display device 20, wherein each degree is three pixel units, the processing unit 13 sets C to 3 and according to the first offset of C. vector Calculate N.
此外,如前述,手持式指向裝置10的使用者亦可以是依據顯示裝置20所執行軟體程式的類型所需的精確度或顯示裝置20的解析度透過輸入單元14來設定N以及C。 In addition, as described above, the user of the hand-held pointing device 10 may also set N and C through the input unit 14 according to the accuracy required by the type of the software program executed by the display device 20 or the resolution of the display device 20.
於步驟S605中,處理單元13判斷手持式指向裝置10是否需更新第二傾斜角度θ2為第三傾斜角度θ3。當處理單元13判斷手持式指向裝置10是否需更新第二傾斜角度θ2為第三傾斜角度θ3時,執行步驟S607。反之,當處理單元13判斷手持式指向裝置10並未更新第二傾斜角度θ2為第三傾斜角度θ3(亦即,手持式指向裝置10仍維持目前的旋轉角度或是手持式指向裝置10持續移動)時,則執行步驟S611。 In step S605, the processing unit 13 determines whether the hand-held pointing device 10 needs to update the second tilt angle θ2 to the third tilt angle θ3. When the processing unit 13 determines whether the hand-held pointing device 10 needs to update the second tilt angle θ2 to the third tilt angle θ3, step S607 is performed. On the contrary, when the processing unit 13 determines that the hand-held pointing device 10 does not update the second tilt angle θ2 to the third tilt angle θ3 (that is, the hand-held pointing device 10 still maintains the current rotation angle or the hand-held pointing device 10 continues to move When it is, then step S611 is performed.
於步驟S607中,處理單元13計算手持式指向裝置10目前旋轉產生的一第二偏移向量。詳細地說,處理單元13可先擷取第三影像框架F3。處理單元13並分別根據第二傾斜角度θ2以及第三傾斜角度θ3以及參考點21於第三影像框架F3的成像位置,計算第四指向座標以及第五指向座標。處理單元13再根據第四指向座標以及第五指向座標,計算第二偏移向量。所述第三影像框架F3的擷取時間晚於上述第二影像框架F2的擷取時間。 In step S607, the processing unit 13 calculates a second offset vector generated by the current rotation of the handheld pointing device 10. . In detail, the processing unit 13 may first capture the third image frame F3. The processing unit 13 calculates the fourth pointing coordinate according to the second tilt angle θ2 and the third tilt angle θ3 and the imaging position of the reference point 21 in the third image frame F3, respectively. And fifth pointing coordinates . The processing unit 13 is further based on the fourth pointing coordinate And fifth pointing coordinates , calculate the second offset vector . The extraction time of the third image frame F3 is later than the extraction time of the second image frame F2.
換言之,處理單元13會於校正過程中,主動判斷手持式指向裝置10是否再次被使用者操作而旋轉產生新的傾斜角度,以同時依據第二傾斜角度θ2更新第三傾斜角度θ3所產生偏移量校正游標位置,藉以提高手持式指向裝置10的指向性,同時亦避免發生 跳點情況。 In other words, the processing unit 13 actively determines whether the hand-held pointing device 10 is rotated by the user again to generate a new tilt angle during the correction process, so as to simultaneously update the offset generated by the third tilt angle θ3 according to the second tilt angle θ2. Correcting the position of the cursor to improve the directivity of the hand-held pointing device 10 while also avoiding Jump point situation.
於步驟S609中,當處理單元13判斷已再次更新傾斜角度時,處理單元13會計算校正座標、第二偏移向量與C的總和,以產生補償後的指向座標,例如補償後的第三指向座標。所述補償後的指向座標的計算方式如下:
其中,表示補償後的指向座標;表示校正座標;C表示補償向量;表示第一指向座標;表示第二指向座標;表示第三指向座標;表示第四指向座標;表示第五指向座標;N表示校正次數。 among them, Indicates the pointed coordinates after compensation; Represents a corrected coordinate; C represents a compensation vector; Indicates the first pointing coordinate; Representing the second pointing coordinate; Indicates a third pointing coordinate; Representing the fourth pointing coordinate; Indicates the fifth pointing coordinate; N indicates the number of corrections.
於步驟S611中,當處理單元13判定未再次更新傾斜角度時,處理單元13計算校正座標與C的總和,以產生補償後的指向座標,例如補償後的第三指向座標。補償後的指向座標的計算方式如下:
其中,表示補償後的指向座標;表示校正座標;C表示補償向量;表示第一指向座標;表示第二指向座標;表示第三指向座標;N表示校正次數。 among them, Indicates the pointed coordinates after compensation; Represents a corrected coordinate; C represents a compensation vector; Indicates the first pointing coordinate; Representing the second pointing coordinate; Indicates the third pointing coordinate; N indicates the number of corrections.
於步驟S613中,處理單元13根據補償後的指向座標相對應地產生並輸出對應控制游標位於顯示裝置20的游標參數。處理單元13會輸出游標參數使顯示裝置20上游標由本來位置(圖7中游標33a的位置)對應平移動距離d1(圖7中游標33b的位置)。游標33a的位置是對應於手持式指向裝置10利用第一傾斜角度θ1所計算的指向座標。游標35a的位置是對應於手持式指向裝置10利用第二傾斜角度θ2所計算的指向座標。 In step S613, the processing unit 13 is based on the compensated pointing coordinates. The cursor parameters corresponding to the control cursor located on the display device 20 are correspondingly generated and output. The processing unit 13 outputs the cursor parameters such that the upstream position of the display device 20 (the position of the cursor 33a in Fig. 7) corresponds to the flat moving distance d1 (the position of the cursor 33b in Fig. 7). The position of the cursor 33a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the first tilt angle θ1. The position of the cursor 35a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the second tilt angle θ2.
同時,於步驟S615中,處理單元13重新設定校正座標為新的指向座標,例如第六指向座標,其中第六指向座標是根據參考點21在擷取的第四影像框架F4中的成像位置以及第二傾斜角度θ2或第三傾斜角度θ3(若手持式指向裝置10已更新第二傾斜角度θ2為第三傾斜角度θ3)所計算的。於步驟S617中,處理單元13執行N-1(亦即遞減校正次數)。處理單元13並將設定後的校正座標與遞減後的N儲存於儲存單元15。處理單元13隨後於步驟S619中判斷N是否等於零,亦即判斷是否完成游標校正程序。 Meanwhile, in step S615, the processing unit 13 resets the correction coordinates. a new pointing coordinate, such as a sixth pointing coordinate, wherein the sixth pointing coordinate is an imaging position according to the reference point 21 in the captured fourth image frame F4 and a second tilt angle θ2 or a third tilt angle θ3 (if handheld The pointing device 10 has updated the second tilt angle θ2 to be calculated as the third tilt angle θ3). In step S617, the processing unit 13 executes N-1 (i.e., the number of decrement corrections). Processing unit 13 and setting the corrected coordinates And the decremented N is stored in the storage unit 15. The processing unit 13 then determines in step S619 whether N is equal to zero, i.e., determines whether the cursor correction procedure is completed.
若處理單元13判斷N等於零,亦即完成游標校正程序時,執行步驟S621。反之,若處理單元13判斷N並不等於零,亦即尚未完成游標校正程序時,處理單元13回到步驟S605。亦即,手持式指向裝置10重新擷取第五影像框架F5、根據第五影像框架F5中參考點21的成像位置與第二傾斜角度θ2或第三傾斜角度θ3,計算手持式指向裝置10相對於參考點21的第七指向座標,設第七指向座標為校正座標以及依據校正座標與C計算補償後的指向座標等步驟,使顯示裝置20上游標由圖7中游標33b的位置持續平移距離d2直至移動至游標33c的位置。 If the processing unit 13 determines that N is equal to zero, that is, when the cursor correction procedure is completed, step S621 is performed. On the other hand, if the processing unit 13 judges that N is not equal to zero, that is, when the cursor correction procedure has not been completed, the processing unit 13 returns to step S605. That is, the handheld pointing device 10 retrieves the fifth image frame F5 and calculates the relative position of the hand-held pointing device 10 according to the imaging position of the reference point 21 in the fifth image frame F5 and the second tilt angle θ2 or the third tilt angle θ3. At the seventh pointing coordinate of the reference point 21, the seventh pointing coordinate is a corrected coordinate, and the compensated pointing coordinate is calculated according to the corrected coordinate and C, so that the upstream position of the display device 20 is continuously shifted by the position of the cursor 33b in FIG. D2 until moved to the position of the cursor 33c.
而後,處理單元13再重新執行步驟S605~S619,依序擷取N-2張影像框架(未繪示),以計算持續對後續的指向座標進行補償,並依據該補償後的指向座標計算游標定位,以此類推,直至N等於零。 Then, the processing unit 13 re-executes steps S605-S619, sequentially captures N-2 image frames (not shown), and continues to compensate for subsequent pointing coordinates, and calculates the cursor according to the compensated pointing coordinates. Positioning, and so on, until N is equal to zero.
當處理單元13完成游標校正程序時,游標會如圖7所示,由顯示裝置20畫面上對應第一指向座標的位置(如游標33a的位置)移動N次到達對應手持式指向裝置10目前的指向位置。換言之,游標會在顯示裝置20畫面上由對應第一指向座標的位置(如游標33a的位置)平移距離d1、d2、d3、...dN,到達手持式指向裝置10在第N張影像框架後的指向參考點的指向位置,例如游標33N的位置。 When the processing unit 13 completes the cursor calibration procedure, the cursor will be as shown in FIG. 7 and corresponding to the first pointing coordinate on the screen of the display device 20. The position (such as the position of the cursor 33a) is moved N times to reach the current pointing position of the corresponding handheld pointing device 10. In other words, the cursor will be on the display device 20 screen by the corresponding first pointing coordinate The position (such as the position of the cursor 33a) translates the distances d1, d2, d3, ..., dN to the pointing position of the hand-held pointing device 10 after the Nth image frame pointing to the reference point, such as the position of the cursor 33N.
而後,於步驟S621中,處理單元13於後續移動中,會直接根據參考點21在擷取的影像框架中的成像位置以及目前使用的傾斜角度對應計算游標定位,藉以提高游標控制的精確度。 Then, in step S621, the processing unit 13 directly calculates the cursor positioning according to the imaging position of the reference point 21 in the captured image frame and the currently used tilt angle in the subsequent movement, thereby improving the accuracy of the cursor control.
值得一提的是,於游標校正過程中,若手持式指向裝置10持續更新傾斜角度時,處理單元13會以累計方式對應調整校正補償量,亦即C,據以維持手持式指向裝置10的指向性。處理單元13也可主動依據更新後傾斜角度與更新前的傾斜角度之間的角度差異及/或更新後傾斜角度產生偏移向量,決定是否將此偏移向量加入指向座標的補償計算。 It is worth mentioning that, in the cursor calibration process, if the hand-held pointing device 10 continuously updates the tilt angle, the processing unit 13 adjusts the correction compensation amount, that is, C, in an accumulated manner, thereby maintaining the hand-held pointing device 10. Directivity. The processing unit 13 may also actively generate an offset vector according to the angular difference between the updated tilt angle and the pre-update tilt angle and/or the updated tilt angle, and determine whether to add the offset vector to the coordinate calculation of the pointing coordinate.
此外,處理單元13於運作時亦可透過通訊單元16與顯示裝置20進行通訊,以獲取顯示裝置20執行軟體程式的相關資訊,例如軟體程式的類型與狀態、畫面更新頻率以及顯示裝置20執行該軟體程式所需的解析度等。處理單元13並可根據獲取的資訊決定是否須進行游標校正程序以及執行游標校正程序中校正參數的設定。所述校正參數包括預設偏移閥值(如第一預設偏移閥及第二預設偏移閥值)、預設角度、校正次數、校正時間以及每次校正的補償量等。 In addition, the processing unit 13 can also communicate with the display device 20 through the communication unit 16 during operation to obtain information about the execution of the software program by the display device 20, such as the type and status of the software program, the screen update frequency, and the display device 20 executing the The resolution required by the software program, etc. The processing unit 13 can determine whether the cursor correction program needs to be performed and the setting of the correction parameters in the cursor correction program according to the acquired information. The correction parameters include a preset offset threshold (such as a first preset offset valve and a second preset offset threshold), a preset angle, a number of corrections, a correction time, and a compensation amount for each correction.
於實務上,可透過微控制器或嵌入式控制器上設計對應上述圖3之游標定位方法以及圖6之游標定位校正計算方法的程式碼,以於處理單元13運作時執行圖3之游標定位方法以及圖6之游標校正計算方法,但本實施例並不限制。 In practice, the code corresponding to the cursor positioning method of FIG. 3 and the cursor positioning correction calculation method of FIG. 6 can be designed on the microcontroller or the embedded controller to perform the cursor positioning of FIG. 3 when the processing unit 13 operates. The method and the cursor correction calculation method of FIG. 6 are not limited in this embodiment.
要說明的是,圖3僅用於描述手持式指向裝置10的一種游標定位方法,故圖3並非用以限定本發明。同樣地,圖6僅用於描述手持式指向裝置10的游標定位校正方式的一具體方式,亦並非用以限定本發明。圖4A~圖4D僅用以說明計算手持式指向裝置10的指向座標以及對應顯示裝置20的操作範圍與影像擷取單元11中感測陣列的中心點”+”之間的關係,並非用以限制本發明。圖5以及圖7分別僅用以配合圖3與圖6說明手持式指向裝置10的 運作方式以及游標定位校正計算方式,亦並非用以限定本發明。 It should be noted that FIG. 3 is only used to describe a cursor positioning method of the handheld pointing device 10, and thus FIG. 3 is not intended to limit the present invention. Similarly, FIG. 6 is only used to describe a specific manner of the cursor positioning correction mode of the handheld pointing device 10, and is not intended to limit the present invention. 4A to 4D are only used to illustrate the relationship between the pointing coordinates of the handheld pointing device 10 and the operating range of the corresponding display device 20 and the center point "+" of the sensing array in the image capturing unit 11, not for Limit the invention. 5 and FIG. 7 are only used to illustrate the handheld pointing device 10 in conjunction with FIGS. 3 and 6, respectively. The mode of operation and the calculation method of the cursor positioning correction are not intended to limit the present invention.
由上述實施例,本發明另可歸納出一種游標定位方法,此方法可應用適用於上述實施例互動系統中的手持式指向裝置。請參照圖8並同時參照圖1以及圖2,圖8繪示本發明另一實施例提供的手持式指向裝置游標定位方法的流程示意圖。圖8的游標定位法可以韌體程式設計方式來實現,並透過手持式指向裝置10的處理單元13來執行。 According to the above embodiment, the present invention can further generalize a cursor positioning method, which can apply a hand-held pointing device suitable for use in the interactive system of the above embodiment. Referring to FIG. 8 and FIG. 2 simultaneously, FIG. 8 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to another embodiment of the present invention. The cursor positioning method of FIG. 8 can be implemented in a firmware programming manner and executed by the processing unit 13 of the handheld pointing device 10.
首先,於步驟S801中,手持式指向裝置10的處理單元13判斷是否更新目前使用的第一傾斜角度為第二傾斜角度。當處理單元13判斷更新目前使用的第一傾斜角度為第二傾斜角度時,執行步驟S803。反之,當處理單元13判斷不更新目前使用的第一傾斜角度為第二傾斜角度時,則回到步驟S801。 First, in step S801, the processing unit 13 of the hand-held pointing device 10 determines whether to update the currently used first tilt angle as the second tilt angle. When the processing unit 13 determines that the first tilt angle currently used for the update is the second tilt angle, step S803 is performed. On the other hand, when the processing unit 13 determines not to update the currently used first tilt angle to the second tilt angle, it returns to step S801.
手持式指向裝置10可依據影像擷取單元11擷取對應參考點21的多個影像依序產生的多個影像框架,判斷參考點21於該些影像框架中是否發生大幅移動。手持式指向裝置10並於判斷結果顯示參考點21並未發生大幅移動(例如,手持式指向裝置10處於靜態狀態)決定更新目前使用的第一傾斜角度為第二傾斜角度。 The handheld pointing device 10 can capture a plurality of image frames sequentially generated by the plurality of images corresponding to the reference point 21 according to the image capturing unit 11 to determine whether the reference point 21 has greatly moved in the image frames. The hand-held pointing device 10 determines that the reference point 21 has not moved significantly (for example, the hand-held pointing device 10 is in a static state) to determine that the first tilt angle currently used is updated to be the second tilt angle.
附帶一提的是,於其他實施方式中,手持式指向裝置10亦可透過判斷依據參考點21所計算的指向座標是否大幅移動,來決定更新目前使用的第一傾斜角度為第二傾斜角度。例如當手持式指向裝置10判斷依據參考點21所計算的指向座標並未大幅移動,即更新目前使用的第一傾斜角度為第二傾斜角度。 It should be noted that in other embodiments, the hand-held pointing device 10 can also determine whether to update the currently used first tilt angle to the second tilt angle by determining whether the pointing coordinate calculated according to the reference point 21 is greatly moved. For example, when the hand-held pointing device 10 judges that the pointing coordinate calculated according to the reference point 21 has not largely moved, that is, the first tilt angle currently used is updated to be the second tilt angle.
其次,於步驟S803中,當處理單元13決定更新目前使用的第一傾斜角度為第二傾斜角度時,處理單元13驅動影像擷取單元11擷取參考點21的第一影像框架。 Next, in step S803, when the processing unit 13 determines to update the first tilt angle currently used to be the second tilt angle, the processing unit 13 drives the image capturing unit 11 to capture the first image frame of the reference point 21.
其後,於步驟S805中,處理單元13計算第一傾斜角度與第二傾斜角度之間的一角度差異。 Thereafter, in step S805, the processing unit 13 calculates an angular difference between the first tilt angle and the second tilt angle.
於步驟S807中,處理單元13判斷第一傾斜角度與第二傾斜角度之間的角度差異是否小於一預設角度,例如20度。當處理單元13判斷第一傾斜角度與第二傾斜角度之間的角度差異小於預設角度時,執行步驟S809。反之,當處理單元13判斷第一傾斜角度與第二傾斜角度之間的角度差異大於預設角度時,執行步驟S811。 In step S807, the processing unit 13 determines whether the difference in angle between the first tilt angle and the second tilt angle is less than a preset angle, for example, 20 degrees. When the processing unit 13 determines that the difference in angle between the first tilt angle and the second tilt angle is less than the preset angle, step S809 is performed. On the other hand, when the processing unit 13 determines that the difference in angle between the first tilt angle and the second tilt angle is greater than the preset angle, step S811 is performed.
於步驟S809中,處理單元13會驅動影像擷取單元11擷取對應參考點21的第二影像框架,其中第二影像框架的擷取時間晚於第一影像框架的擷取時間。處理單元13並會直接根據參考點21在第二影像框架中的成像位置與第二傾斜角度計算游標定位。也就是,當第一傾斜角度與第二傾斜角度之間的角度差異小於預設角度,例如20度時,處理單元13即會判定跳點不明顯,而不做補償並直接依據參考點21在第二影像框架中的成像位置以及第二傾斜角度所計算的指向座標計算游標定位。 In step S809, the processing unit 13 drives the image capturing unit 11 to capture the second image frame corresponding to the reference point 21, wherein the capturing time of the second image frame is later than the capturing time of the first image frame. The processing unit 13 will directly calculate the cursor positioning according to the imaging position of the reference point 21 in the second image frame and the second tilt angle. That is, when the difference in angle between the first tilt angle and the second tilt angle is less than a preset angle, for example, 20 degrees, the processing unit 13 determines that the jump point is not obvious, without compensation and directly according to the reference point 21 The imaging position in the second image frame and the pointing coordinate calculated by the second tilt angle calculate the cursor position.
於步驟S811中,處理單元13根據參考點21在第一影像框架中的成像位置以及第一傾斜角度計算第一指向座標。於步驟S813中,處理單元13根據參考點21在第一影像框架中的成像位置以及第二傾斜角度,計算第二指向座標。所述第一指向座標以及第二指向座標的詳細計算方式與前述實施例相同,故不再贅述。 In step S811, the processing unit 13 calculates the first pointing coordinate according to the imaging position of the reference point 21 in the first image frame and the first tilt angle. In step S813, the processing unit 13 calculates the second pointing coordinate according to the imaging position of the reference point 21 in the first image frame and the second tilt angle. The detailed calculation manners of the first pointing coordinate and the second pointing coordinate are the same as those of the foregoing embodiment, and therefore will not be described again.
而後,於步驟S815中,處理單元13會使手持式指向裝置10於後續移動時,基於第一指向座標與第二指向座標之間的偏移量並配合手持式指向裝置10移動計算的指向座標,以進行游標定位計算。 Then, in step S815, the processing unit 13 causes the hand-held pointing device 10 to move the calculated pointing position based on the offset between the first pointing coordinate and the second pointing coordinate and the hand-held pointing device 10 when the hand-held pointing device 10 moves. For cursor positioning calculation.
於步驟S817中,處理單元13根據於步驟S809或步驟S815中游標定位計算結果相對應地產生控制游標23在顯示裝置20畫面上移動的游標參數。 In step S817, the processing unit 13 correspondingly generates a cursor parameter that controls the movement of the cursor 23 on the screen of the display device 20 in accordance with the cursor positioning calculation result in step S809 or step S815.
隨後,處理單元13透過通訊單元16將游標參數以無線方式傳送至顯示裝置20,以對應控制游標23在顯示裝置20畫面上的動作。 Subsequently, the processing unit 13 wirelessly transmits the cursor parameters to the display device 20 through the communication unit 16 to correspondingly control the motion of the cursor 23 on the screen of the display device 20.
圖8僅用於描述手持式指向裝置10的一種游標定位方法,故圖8並非用以限定本發明。於所屬技術領域具通常知識者亦可依據實際運作需求,選擇決定更新第一傾斜角度為第二傾斜角度的判斷方式,例如依據參考點於連續影像框架中的位移變化、速度變化或加速度變化,或是,根據多個連續影像框架中參考點的成像位置所計算出的指向座標的移動變化,亦或者是根據手持式指向裝置10於多軸向的多個加速度值所產生一加速度向量等,來判斷手持式指向裝置10是否處於移動狀態。上述實施例中游標定位校正計算方法可於執行步驟S815中,同時執行以校正對應游標23定位的指向座標。 FIG. 8 is only used to describe a cursor positioning method of the handheld pointing device 10, and FIG. 8 is not intended to limit the present invention. Those having ordinary knowledge in the technical field may also select a determination method for determining to update the first tilt angle to the second tilt angle according to actual operation requirements, for example, according to the displacement change, the speed change or the acceleration change of the reference point in the continuous image frame. Or, according to the movement change of the pointing coordinate calculated by the imaging position of the reference point in the plurality of continuous image frames, or an acceleration vector generated according to the plurality of acceleration values of the hand-held pointing device 10 in multiple axial directions, It is judged whether or not the hand-held pointing device 10 is in a moving state. The cursor positioning correction calculation method in the above embodiment may be performed in step S815 while performing correction to correct the pointing coordinates of the corresponding cursor 23 .
由上述的實施例,本發明還可歸納出一種游標定位方法,此方法可應用適用於上述實施例互動系統中的手持式指向裝置。請參照圖9並同時參照圖1以及2,圖9繪示本發明又一實施例提供的手持式指向裝置游標定位方法的流程示意圖。圖9的游標定位法可以韌體程式設計方式來實現,並透過手持式指向裝置10的處理單元13來執行。 According to the above embodiment, the present invention can also be summarized as a cursor positioning method, which can apply a hand-held pointing device suitable for use in the interactive system of the above embodiment. Referring to FIG. 9 and FIG. 1 and FIG. 2 simultaneously, FIG. 9 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to still another embodiment of the present invention. The cursor positioning method of FIG. 9 can be implemented in a firmware programming manner and executed by the processing unit 13 of the handheld pointing device 10.
於步驟S901中,手持式指向裝置10的處理單元13會在第一時間更新目前使用第一傾斜角度為第二傾斜角度。具體地說,處理單元13會驅動加速度單元12感測手持式指向裝置10於多軸向(例如X軸向、Y軸向以及Z軸向)的多個加速度值並對應產生加速度向量。處理單元13依據加速度向量利用上述公式(1)至(3)計算手持式指向裝置10的加速度向量與各軸向之間的夾角,以獲取手持式指向裝置10目前的傾斜角度。 In step S901, the processing unit 13 of the handheld pointing device 10 updates the current use of the first tilt angle to the second tilt angle at the first time. Specifically, the processing unit 13 drives the acceleration unit 12 to sense a plurality of acceleration values of the handheld pointing device 10 in multiple axial directions (eg, X-axis, Y-axis, and Z-axis) and correspondingly generate an acceleration vector. The processing unit 13 calculates the angle between the acceleration vector of the hand-held pointing device 10 and each axial direction using the above formulas (1) to (3) in accordance with the acceleration vector to obtain the current tilt angle of the hand-held pointing device 10.
在第一時間內,手持式指向裝置10的處理單元13亦會擷取驅動影像擷取單元11對應參考點21的第一影像框架。 In the first time, the processing unit 13 of the handheld pointing device 10 also captures the first image frame corresponding to the reference point 21 of the driving image capturing unit 11.
於步驟S903中,在第一時間內,手持式指向裝置10的處理單元13會分別利用第一傾斜角度、第二傾斜角度計算對應參考點 21於第一影像框架內的成像位置的第一指向座標與第二指向座標。 In step S903, the processing unit 13 of the handheld pointing device 10 calculates the corresponding reference point by using the first tilt angle and the second tilt angle, respectively, in the first time. 21 a first pointing coordinate and a second pointing coordinate of the imaging position within the first image frame.
同時,處理單元13會根據第一指向座標計算游標定位,以相對應地產生控制游標23位於顯示裝置20位置的游標參數。處理單元13隨後利用通訊單元16將對應游標23於第一時間的游標參數以無線方式傳送至顯示裝置20,使游標23固定於第一指向座標。游標23的詳細計算定位方式以及游標位置控制方式與前述實施例相同,故不再贅述。 At the same time, the processing unit 13 calculates the cursor positioning according to the first pointing coordinate to correspondingly generate the cursor parameter that controls the position of the cursor 23 at the display device 20. The processing unit 13 then wirelessly transmits the cursor parameters of the corresponding cursor 23 at the first time to the display device 20 using the communication unit 16, so that the cursor 23 is fixed to the first pointing coordinate. The detailed calculation and positioning manner of the cursor 23 and the cursor position control manner are the same as those of the foregoing embodiment, and therefore will not be described again.
於步驟S905中,處理單元13計算第一指向座標與第二指向座標之間的一第一偏移向量。 In step S905, the processing unit 13 calculates a first offset vector between the first pointing coordinate and the second pointing coordinate.
而後,於步驟S907中,處理單元13根據計算的第一偏移向量產生單位補償向量。於一實施方式中,處理單元13可如前述實施例所述是根據第一偏移向量或第一傾斜角度與第二傾斜角度之間的角度差異,決定以固定的校正次數或是固定的校正補償量來計算單位補償向量。若以固定的校正次數來對手持式指向裝置10後續產生的指向座標進行校正,處理單元13可將第一偏移向量除以校正次數或校正時間,產生單位補償向量。若以固定的校正補償量來對手持式指向裝置10後續產生的指向座標進行校正,處理單元13可依據校正補償量設定單位補償向量。處理單元13同時並將第一偏移向量除以單位補償向量,以產生所需的校正次數。 Then, in step S907, the processing unit 13 generates a unit compensation vector based on the calculated first offset vector. In an embodiment, the processing unit 13 may determine the fixed correction number or the fixed correction according to the first offset vector or the difference between the first tilt angle and the second tilt angle as described in the foregoing embodiment. The compensation amount is used to calculate the unit compensation vector. If the pointing coordinates subsequently generated by the hand-held pointing device 10 are corrected with a fixed number of corrections, the processing unit 13 may divide the first offset vector by the number of corrections or the correction time to generate a unit compensation vector. If the pointing coordinate subsequently generated by the hand-held pointing device 10 is corrected with a fixed correction compensation amount, the processing unit 13 can set the unit compensation vector according to the corrected compensation amount. Processing unit 13 simultaneously divides the first offset vector by the unit compensation vector to produce the desired number of corrections.
值得一提的是,上述固定的校正次數或校正時間可以是處理單元13根據影像取樣頻率或預設時間來設定。於其他實施方式中,上述固定的校正次數或校正時間以及固定的校正補償量亦可以是處理單元13根據顯示裝置20所執行軟體程式,例如遊戲軟體程式的類型來設定。詳細的設定方式已於前述實施例中詳述,本發明領域具通常知識者應可由上述說明推知設定方式,故不再贅述。 It is worth mentioning that the fixed number of corrections or the correction time may be set by the processing unit 13 according to the image sampling frequency or the preset time. In other embodiments, the fixed number of corrections or corrections and the fixed amount of correction compensation may be set by the processing unit 13 according to a type of software program executed by the display device 20, such as a game software program. The detailed setting method has been described in detail in the foregoing embodiments, and those skilled in the art should be able to infer the setting manner from the above description, and therefore will not be described again.
接著,於步驟S909中,在第二時間,處理單元13會擷取對 應參考點於第二影像框架,並根據參考點於第二影像框架的成像位置與第二傾斜角度,計算對應參考點於第二影像框架的成像位置的第三指向座標。所述第二時間是在第一時間之後,亦即,第二影像框架的擷取時間晚於第一影像框架的擷取時間。 Next, in step S909, at the second time, the processing unit 13 will retrieve the pair. The third pointing coordinate corresponding to the imaging position of the reference image point of the second image frame is calculated according to the second image frame and the imaging position of the second image frame and the second tilt angle according to the reference point. The second time is after the first time, that is, the extraction time of the second image frame is later than the extraction time of the first image frame.
於步驟S911中,處理單元13會在第二時間啟動游標校正程序,以根據第三指向座標以及單位補償向量,相對應地計算游標定位。詳細地說,於第二時間內,處理單元13可以是以圖6所示的游標定位校正計算方法來校正第三指向座標。 In step S911, the processing unit 13 starts the cursor correction program at the second time to correspondingly calculate the cursor positioning according to the third pointing coordinate and the unit compensation vector. In detail, in the second time, the processing unit 13 may correct the third pointing coordinate by the cursor positioning correction calculation method shown in FIG. 6.
於步驟S913中,處理單元13計算游標23在第二時間於顯示裝置20的顯示位置。詳細地說,手持式指向裝置10會根據第三指向座標的校正計算結果相對應地產生控制游標23位於顯示裝置20的游標參數。處理單元13透過通訊單元16以無線方式將游標參數傳送至顯示裝置20,以對應控制游標23於第二時間在顯示裝置20畫面上的顯示位置。 In step S913, the processing unit 13 calculates the display position of the cursor 23 at the display device 20 at the second time. In detail, the hand-held pointing device 10 correspondingly generates a cursor parameter of the control cursor 23 at the display device 20 according to the correction calculation result of the third pointing coordinate. The processing unit 13 wirelessly transmits the cursor parameters to the display device 20 through the communication unit 16 to correspondingly control the display position of the cursor 23 on the screen of the display device 20 at the second time.
於步驟S915中,處理單元13於第三時間會擷取對應參考點的第三影像框架,並配合利用該第二傾斜角度計算對應參考點於第三影像框架的成像位置的第四指向座標。所述第三時間是在第二時間之後,亦即,第三影像框架的擷取時間晚於第二影像框架的擷取時間。此外,第二時間與第三時間之間的時間長度則可依據上述校正次數或校正時間來配置。 In step S915, the processing unit 13 retrieves the third image frame corresponding to the reference point at the third time, and cooperates with the second tilt angle to calculate the fourth pointing coordinate of the corresponding reference point to the imaging position of the third image frame. The third time is after the second time, that is, the capture time of the third image frame is later than the capture time of the second image frame. In addition, the length of time between the second time and the third time may be configured according to the above-mentioned correction times or correction time.
步驟S917中,處理單元13並會根據第四指向座標計算游標在第三時間於顯示裝置20的顯示位置。而後,於步驟S919中,處理單元13相對應地產生控制游標23位於顯示裝置20的游標參數。處理單元13並透過通訊單元16以無線傳輸方式將游標參數傳送至顯示裝置20,據以對應控制游標23於第三時間在顯示裝置20畫面上的顯示位置。 In step S917, the processing unit 13 calculates the display position of the cursor on the display device 20 at the third time according to the fourth pointing coordinate. Then, in step S919, the processing unit 13 correspondingly generates a cursor parameter in which the control cursor 23 is located on the display device 20. The processing unit 13 transmits the cursor parameters to the display device 20 through the communication unit 16 in a wireless transmission manner, thereby correspondingly controlling the display position of the cursor 23 on the screen of the display device 20 at the third time.
值得一提的是,在第二時間內,處理單元13亦可根據如前述實施例所述根據偏移向量或第一傾斜角度與第二傾斜角度之間的 角度差異,決定是否對以第二傾斜角度計算得指向座標進行校正。若第一指向座標與第二指向座標之間的偏移向量小於第一偏移向量(例如5個像素)或第一傾斜角度與第二傾斜角度之間的角度差異小於預設角度(例如20度)時,處理單元13可不進行游標校正程序,而直接根據第三指向座標計算游標定位,並相對應地產生控制游標23位於顯示裝置20的游標參數。 It is worth mentioning that, in the second time, the processing unit 13 may also be according to the offset vector or between the first tilt angle and the second tilt angle according to the foregoing embodiment. The difference in angle determines whether or not to correct the pointing coordinate calculated at the second tilt angle. If the offset vector between the first pointing coordinate and the second pointing coordinate is smaller than the first offset vector (for example, 5 pixels) or the angle difference between the first tilt angle and the second tilt angle is smaller than a preset angle (for example, 20 When the processing unit 13 does not perform the cursor correction procedure, the cursor positioning is directly calculated according to the third pointing coordinate, and the cursor parameter of the control cursor 23 located at the display device 20 is correspondingly generated.
此外,於本實施例中,處理單元13可將所計算出第一傾斜角度、第二傾斜角度、第一指向座標、第二指向座標、第三指向座標、第一偏移向量、單位補償向量分別記錄於儲存單元15。本發明技術領域具有通常知識者亦可依據實際運作需求,利用韌體設計方式加入在第一時間內,決定是否更新第一傾斜角為第二傾斜角度的判斷方式於處理單元13。也就是,處理單元13可透過判斷出參考點21或是計算出對應參考點的指向座標是否發生大幅移動來偵測手持式指向裝置10目前正在移動中或是處於靜態狀態,據以決定是否更新手持式指向裝置10使用的傾斜角度。 In addition, in this embodiment, the processing unit 13 may calculate the first tilt angle, the second tilt angle, the first pointing coordinate, the second pointing coordinate, the third pointing coordinate, the first offset vector, and the unit compensation vector. Recorded in the storage unit 15 respectively. In the technical field of the present invention, the general knowledge can also be added to the processing unit 13 by using the firmware design method to determine whether to update the first tilt angle to the second tilt angle in the first time according to the actual operation requirement. That is, the processing unit 13 can detect whether the pointing pointing device 10 is currently moving or in a static state by determining whether the reference point 21 or the pointing coordinate of the corresponding reference point is greatly moved, thereby determining whether to update. The tilt angle used by the hand-held pointing device 10.
要說明的是,圖9僅用於描述手持式指向裝置10的一種游標定位方法,故圖9並非用以限定本發明。 It should be noted that FIG. 9 is only used to describe a cursor positioning method of the handheld pointing device 10, and FIG. 9 is not intended to limit the present invention.
另外,本發明亦可利用一種電腦可讀取記錄媒體,儲存對應前述圖3、圖8與圖9之游標定位方法以及圖6之游標定位校正方法的電腦程式碼以於被一處理器讀取時執行前述之步驟。此電腦可讀取媒體可以是軟碟、硬碟、光碟、隨身碟、磁帶、可由網路存取之資料庫或熟知此項技術者可輕易思及具有相同功能之儲存媒體。 In addition, the present invention can also use a computer readable recording medium to store the computer program code corresponding to the cursor positioning method of FIG. 3, FIG. 8 and FIG. 9 and the cursor positioning correction method of FIG. 6 for reading by a processor. Perform the aforementioned steps. The computer readable medium can be a floppy disk, a hard disk, a compact disk, a flash drive, a magnetic tape, a database accessible by the network, or a storage medium that can be easily thought of by the person skilled in the art.
綜上所述,本發明實施例提供一種手持式指向裝置以及手持式指向裝置的游標定位方法,所述手持式指向裝置以及游標定位方法適用於控制一顯示裝置上游標的移動運作。所述游標定位方法可主動於手持式指向裝置更新傾斜角度之後計算游標定位時, 對以更新後的傾斜角度計算的指向座標進行校正,以使游標在預定的校正時間或校正次數內由以更新前的傾斜角度計算的指向座標至的對應目前手持式指向裝置實際的指向位置,藉以避免發生游標跳點情況,並提高使用者操作上的便利性與穩定性。 In summary, the embodiments of the present invention provide a handheld pointing device and a cursor positioning method for a handheld pointing device. The handheld pointing device and the cursor positioning method are suitable for controlling a moving operation of a display device upstream target. The cursor positioning method can actively calculate the cursor positioning after the handheld pointing device updates the tilt angle. Correcting the pointing coordinates calculated with the updated tilt angle so that the cursor is indexed to the actual pointing position of the current hand-held pointing device by the pointing angle calculated by the pre-update tilt angle within a predetermined correction time or number of corrections, In order to avoid the occurrence of cursor jump points, and improve user convenience and stability.
所述游標定位方法還可依據顯示裝置目前執行軟體程式的類型所需的精確度以及顯示裝置的解析度判斷是否需要對利用以更新後的傾斜角度計算的指向座標進行校正以及校正補償方式,以增加手持式指向裝置的實用性以及應用性。 The cursor positioning method may further determine, according to the accuracy required by the display device to execute the type of the software program and the resolution of the display device, whether to correct the pointing coordinates calculated by using the updated tilt angle and correct the compensation mode, Increase the utility and applicability of handheld pointing devices.
以上所述僅為本發明之實施例,其並非用以侷限本發明之專利範圍。 The above description is only an embodiment of the present invention, and is not intended to limit the scope of the invention.
S301~S317‧‧‧步驟流程 S301~S317‧‧‧Step procedure
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