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CN-121982182-A - Virtual image display method, device, chip and storage medium

CN121982182ACN 121982182 ACN121982182 ACN 121982182ACN-121982182-A

Abstract

The application relates to the technical field of augmented reality display and discloses a display method, equipment, a chip and a storage medium of a virtual image, wherein the method is applied to head-mounted display equipment and comprises the steps of acquiring posture data of the head of a wearer wearing the head-mounted display equipment and an original projection matrix of the head-mounted display equipment; extracting dither signals from the gesture data, determining a dither matrix according to the dither signals, reversely compensating the original projection matrix according to the dither matrix to obtain a compensation matrix of the head-mounted display device, and rendering and displaying virtual images according to the compensation matrix so as to enable the virtual images to be stably displayed in the field of view of a wearer. Through the mode, the application eliminates the shake of the virtual image in the field of view of the wearer, and reduces the cost of the head-mounted display equipment.

Inventors

  • ZHAO KAIYONG

Assignees

  • 深圳市其域创新科技有限公司

Dates

Publication Date
20260505
Application Date
20260407

Claims (10)

  1. 1. A method for displaying a virtual image, applied to a head-mounted display device, the method comprising: Acquiring posture data of a head of a wearer wearing a head-mounted display device and an original projection matrix of the head-mounted display device; extracting a dither signal from the attitude data; determining a dither matrix according to the dither signal; reversely compensating the original projection matrix according to the high-frequency rotation matrix to obtain a compensation matrix of the head-mounted display device; And rendering and displaying a virtual image according to the compensation matrix so that the virtual image is stably displayed in the visual field of the wearer.
  2. 2. The method of claim 1, wherein said back compensating the original projection matrix based on the high frequency rotation matrix results in a compensation matrix for the head mounted display device, further comprising: Determining an inverse of the high frequency rotation matrix; And determining a compensation matrix of the head-mounted display device according to the inverse matrix of the high-frequency rotation matrix and the original projection matrix.
  3. 3. The method of claim 2, wherein the determining the compensation matrix of the head mounted display device from the inverse of the high frequency rotation matrix and the original projection matrix comprises: According to the formula Calculating the compensation matrix , wherein, Representing the said original projection matrix, Representing the inverse of the high frequency rotation matrix.
  4. 4. The method according to claim 1, wherein the method further comprises: acquiring a visual angle matrix of the head-mounted display device; rendering and displaying a virtual image according to the compensation matrix, further comprising: Multiplying the compensation matrix by the view angle matrix to obtain a target matrix of the head-mounted display device; And rendering and displaying a virtual image according to the target matrix.
  5. 5. The method of claim 1, wherein the pose data comprises a rotation angle and a frequency at which the wearer's head produces the rotation angle; The extracting dither signal from the attitude data further includes: Judging whether the rotation angle is larger than a first preset angle and smaller than a second preset angle, wherein the first preset angle is smaller than the second preset angle, and the absolute values of the first preset angle and the second preset angle are equal; If the rotation angle is larger than the first preset angle and smaller than the second preset angle, judging whether the frequency is larger than a preset frequency threshold value or not; and if the frequency is greater than a preset frequency threshold, determining the rotation angle as the dither signal.
  6. 6. The method of claim 5, wherein the rotation angle comprises a single axis rotation angle about an X-axis, a Y-axis, and a Z-axis; the determining a dither matrix from the dither signal further comprises: Respectively determining rotation matrixes around an X axis, a Y axis and a Z axis according to the single-axis rotation angles around the X axis, the Y axis and the Z axis in the rotation angles; And multiplying the rotation matrixes around the X axis, the Y axis and the Z axis in sequence to obtain the high-frequency rotation matrix.
  7. 7. The method of claim 1, wherein the extracting dither signal from the pose data further comprises: acquiring delay time of the head-mounted display device, wherein the delay time is a time interval from the generation of the gesture data to the display of a virtual image based on the gesture data; Determining predicted attitude data at the current moment according to the attitude data at the previous moment; correcting the predicted attitude data according to the attitude data at the current moment to obtain corrected attitude data; Determining posture data of a delay display moment according to the corrected posture data, wherein the delay display moment is separated from the current moment by the delay time; extracting a dither signal of the delay display time from the attitude data of the delay display time; the compensating the original projection matrix reversely according to the high-frequency rotation matrix to obtain a compensation matrix of the head-mounted display device, rendering and displaying a virtual image according to the compensation matrix so that the virtual image is stably displayed in the field of view of the wearer, and further comprising: Reversely compensating the original projection matrix according to the high-frequency rotation matrix of the delay display moment to obtain a compensation matrix of the delay display moment of the head-mounted display equipment; And rendering and displaying the virtual image at the current moment according to the compensation matrix of the delay display moment so as to enable the virtual image at the current moment to be stably displayed in the visual field of the wearer.
  8. 8. A head-mounted display device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of displaying a virtual image of any one of claims 1-7.
  9. 9. A chip for use in a head-mounted display device, wherein a computer program is stored in the chip, and the chip executes the computer program to implement the method for displaying a virtual image according to any one of claims 1 to 7.
  10. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method for displaying a virtual image according to any one of claims 1 to 7.

Description

Virtual image display method, device, chip and storage medium Technical Field The embodiment of the application relates to the technical field of augmented reality display, in particular to a virtual image display method, device, chip and storage medium. Background Existing head Mounted Display devices (Helmet-Mounted displays, HMDs for short) such as AR (Augmented Reality) glasses typically superimpose virtual images into the user's field of view by means of optical waveguides, projection or optical synthesis. Because the head-mounted display device is rigidly connected with the head of the wearer, when the wearer is in a motion state, high-frequency vibration of the head can be directly transmitted to the optical-mechanical structure of the head-mounted display device, so that corresponding shake is generated in the visual field of the user by the virtual image. The prior art corrects for high frequency jitter by providing a mechanism in the head mounted display device to translate the display screen or optical elements, which can change the physical position of the image relative to the wearer's eyes. These solutions require the addition of additional mechanical structures in the head mounted display device to precisely control the physical movement of the display elements, which undoubtedly increases the cost of the head mounted display device. Disclosure of Invention In view of the above problems, embodiments of the present application provide a method, an apparatus, a chip, and a storage medium for displaying a virtual image, which eliminate shake of the virtual image in a wearer's field of view, and reduce the cost of a head-mounted display apparatus. According to one aspect of the embodiment of the application, a display method of a virtual image is provided, and the method is applied to head-mounted display equipment, and comprises the steps of acquiring gesture data of the head of a wearer wearing the head-mounted display equipment and an original projection matrix of the head-mounted display equipment, extracting dither signals from the gesture data, determining a dither matrix according to the dither signals, reversely compensating the original projection matrix according to the dither matrix to obtain a compensation matrix of the head-mounted display equipment, and rendering and displaying the virtual image according to the compensation matrix so as to enable the virtual image to be stably displayed in the visual field of the wearer. In an alternative mode, the original projection matrix is reversely compensated according to the high-frequency rotation matrix to obtain a compensation matrix of the head-mounted display device, and the method further comprises the steps of determining an inverse matrix of the high-frequency rotation matrix, and determining the compensation matrix of the head-mounted display device according to the inverse matrix of the high-frequency rotation matrix and the original projection matrix. In an alternative, determining the compensation matrix of the head mounted display device from the inverse matrix of the high frequency rotation matrix and the original projection matrix includes determining the compensation matrix of the head mounted display device from the formulaCalculating a compensation matrix, wherein,Representing the original projection matrix of the image,Representing the inverse of the high frequency rotation matrix. In an alternative mode, the method further comprises the steps of obtaining a view angle matrix of the head-mounted display device, rendering and displaying the virtual image according to the compensation matrix, further comprising the steps of multiplying the compensation matrix by the view angle matrix to obtain a target matrix of the head-mounted display device, and rendering and displaying the virtual image according to the target matrix. In an alternative mode, the gesture data comprises a rotation angle and a frequency of the rotation angle generated by the head of a wearer, the method further comprises the steps of judging whether the rotation angle is larger than a first preset angle and smaller than a second preset angle, wherein the first preset angle is smaller than the second preset angle, absolute values of the first preset angle and the second preset angle are equal, judging whether the frequency is larger than a preset frequency threshold value if the rotation angle is larger than the first preset angle and smaller than the second preset angle, and determining the rotation angle as the high-frequency vibration signal if the frequency is larger than the preset frequency threshold value. In an alternative mode, the rotation angles comprise single-axis rotation angles around an X axis, a Y axis and a Z axis, the high-frequency rotation matrix is determined according to the high-frequency vibration signals, the rotation matrices around the X axis, the Y axis and the Z axis are respectively determined according to the single-axis rota