CN110826375B - Display method, device, terminal device and storage medium - Google Patents

Abstract

Translated fromChinese

本申请实施例公开了一种显示方法、装置、终端设备及存储介质，涉及显示技术领域。该显示方法应用于终端设备，所述方法包括：采集包含目标标记物的图像，其中，所述目标标记物为多个标记物中处于所述终端设备视野范围内的至少一个标记物，所述多个标记物分离设置在不同的位置；根据所述图像获取所述目标标记物相对所述终端设备的目标空间位置；读取存储的所述多个标记物之间的第一空间位置关系，并获取虚拟对象相对所述多个标记物的第二空间位置关系；基于所述第一空间位置关系、所述第二空间位置关系以及所述目标空间位置，确定所述虚拟对象的显示位置；根据所述显示位置对所述虚拟对象进行显示。

The embodiments of the present application disclose a display method, an apparatus, a terminal device and a storage medium, and relate to the technical field of display. The display method is applied to a terminal device, and the method includes: collecting an image containing a target marker, wherein the target marker is at least one marker among a plurality of markers that is within the field of view of the terminal device, the The multiple markers are separated and arranged at different positions; the target spatial position of the target marker relative to the terminal device is acquired according to the image; the stored first spatial positional relationship between the multiple markers is read, and acquiring the second spatial position relationship of the virtual object relative to the plurality of markers; determining the display position of the virtual object based on the first spatial position relationship, the second spatial position relationship and the target spatial position; The virtual object is displayed according to the display position.

Description

Translated fromChinese

显示方法、装置、终端设备及存储介质Display method, device, terminal device and storage medium

技术领域technical field

本申请涉及显示技术领域，更具体地，涉及一种显示方法、装置、终端设备及存储介质。The present application relates to the field of display technology, and more particularly, to a display method, apparatus, terminal device and storage medium.

背景技术Background technique

近年来，随着科技的进步，增强现实(AR，Augmented Reality)等技术已逐渐成为国内外研究的热点，增强现实是通过计算机系统提供的信息增加用户对现实世界感知的技术，其将计算机生成的虚拟对象、场景或系统提示信息等内容对象叠加到真实场景中，来增强或修改对现实世界环境或表示现实世界环境的数据的感知。In recent years, with the advancement of science and technology, technologies such as augmented reality (AR, Augmented Reality) have gradually become the focus of research at home and abroad. Augmented reality is a technology that increases users' perception of the real world through information provided by computer systems. The content objects such as virtual objects, scenes or system prompt information are superimposed on the real scene to enhance or modify the perception of the real-world environment or data representing the real-world environment.

在多数情况下利用终端设备显示虚拟内容时，会对标记物采集图像进行识别后，根据对标记物的识别结果对虚拟内容进行显示。但是对于标记物的识别追踪会受到终端设备的视野范围的影响，导致终端设备容易丢失对标记物的追踪，使终端设备的显示受到影响。In most cases, when using a terminal device to display virtual content, the collected image of the marker is recognized, and then the virtual content is displayed according to the recognition result of the marker. However, the identification and tracking of the marker will be affected by the field of view of the terminal device, which causes the terminal device to easily lose the tracking of the marker, which affects the display of the terminal device.

发明内容SUMMARY OF THE INVENTION

本申请实施例提出了一种显示方法、装置、终端设备及存储介质，能够增强终端设备显示的稳定性。The embodiments of the present application provide a display method, apparatus, terminal device, and storage medium, which can enhance the display stability of the terminal device.

第一方面，本申请实施例提供了一种显示方法，应用于终端设备，所述方法包括：采集到包含目标标记物的图像，其中，所述目标标记物为多个标记物中处于所述终端设备视野范围内的至少一个标记物，所述多个标记物分离设置在不同的位置；根据所述图像获取所述目标标记物相对所述终端设备的目标空间位置；读取存储的所述多个标记物之间的第一空间位置关系，并获取虚拟对象相对所述多个标记物的第二空间位置关系；基于所述第一空间位置关系、所述第二空间位置关系以及所述目标空间位置，确定所述虚拟对象的显示位置；根据所述显示位置对所述虚拟对象进行显示。In a first aspect, an embodiment of the present application provides a display method, applied to a terminal device, the method includes: collecting an image containing a target marker, wherein the target marker is a plurality of markers located in the at least one marker within the field of view of the terminal device, the multiple markers are separated and arranged at different positions; the target spatial position of the target marker relative to the terminal device is obtained according to the image; the stored obtaining the first spatial positional relationship between the plurality of markers, and acquiring the second spatial positional relationship of the virtual object relative to the plurality of markers; based on the first spatial positional relationship, the second spatial positional relationship, and the The target space position is to determine the display position of the virtual object; the virtual object is displayed according to the display position.

第二方面，本申请实施例提供了一种显示装置，应用于终端设备，所述装置包括：图像获取模块、第一位置获取模块、位置关系读取模块、第二位置获取模块以及显示执行模块。其中，图像获取模块用于采集包含目标标记物的图像，其中，所述目标标记物为多个标记物中处于所述终端设备视野范围内的至少一个标记物，所述多个标记物分离设置在不同的位置；所述第一位置获取模块用于根据所述图像获取所述目标标记物相对所述终端设备的目标空间位置；位置关系读取模块用于读取存储的所述多个标记物之间的第一空间位置关系，并获取虚拟对象相对所述多个标记物的第二空间位置关系；所述第二位置获取模块用于基于所述第一空间位置关系、所述第二空间位置关系以及所述目标空间位置，确定所述虚拟对象的显示位置；所述显示执行模块用于根据所述显示位置将所述虚拟对象进显示。In a second aspect, an embodiment of the present application provides a display device, which is applied to a terminal device. The device includes: an image acquisition module, a first position acquisition module, a position relationship reading module, a second position acquisition module, and a display execution module . Wherein, the image acquisition module is used to collect an image containing a target marker, wherein the target marker is at least one marker among the multiple markers that is within the field of view of the terminal device, and the multiple markers are set separately in different positions; the first position acquisition module is used for acquiring the target spatial position of the target marker relative to the terminal device according to the image; the position relationship reading module is used for reading the stored markers the first spatial positional relationship between objects, and obtain the second spatial positional relationship of the virtual object relative to the plurality of markers; the second position acquisition module is configured to The spatial position relationship and the target spatial position determine the display position of the virtual object; the display execution module is configured to display the virtual object according to the display position.

第三方面，本申请实施例提供了一种终端设备，包括：一个或多个处理器；存储器；一个或多个应用程序，其中所述一个或多个应用程序被存储在所述存储器中并被配置为由所述一个或多个处理器执行，所述一个或多个程序配置用于执行上述第一方面提供的显示方法。In a third aspect, embodiments of the present application provide a terminal device, including: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and Configured to be executed by the one or more processors, the one or more programs are configured to execute the display method provided by the first aspect.

第四方面，本申请实施例提供了一种存储介质，所述计算机可读取存储介质中存储有程序代码，所述程序代码可被处理器调用执行上述第一方面提供的显示方法。In a fourth aspect, an embodiment of the present application provides a storage medium, where a program code is stored in the computer-readable storage medium, and the program code can be invoked by a processor to execute the display method provided in the first aspect.

本申请提供的方案，终端设备通过采集包含目标物的图像，该目标标记物为多个标记物中处于终端设备视野范围内的至少一个标记物，多个标记物分离设置在不同的位置，然后根据该图像获取该目标标记物相对终端设备的目标空间位置，读取存储的多个标记物之间的第一空间位置关系，并获取虚拟对象相对多个标记物的第二空间位置关系，再基于多个标记物之间的第一空间位置关系、第二空间位置关系以及上述目标空间位置，确定虚拟对象的显示位置，最后根据该显示位置对虚拟对象进行显示，终端设备对大范围内的多个标记物中的一个标记物进行识别，即可实现对虚拟对象的显示，提升终端设备对应虚拟对象的显示的稳定性。In the solution provided in this application, the terminal device collects an image containing a target, and the target marker is at least one marker in the field of view of the terminal device among the multiple markers, and the multiple markers are separated and set at different positions, and then Obtain the target spatial position of the target marker relative to the terminal device according to the image, read the first spatial positional relationship between the stored multiple markers, and obtain the second spatial positional relationship of the virtual object relative to the multiple markers, and then The display position of the virtual object is determined based on the first spatial positional relationship between the plurality of markers, the second spatial positional relationship and the above-mentioned target spatial position, and finally the virtual object is displayed according to the display position. By identifying one marker among the plurality of markers, the display of the virtual object can be realized, and the stability of the display of the virtual object corresponding to the terminal device can be improved.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

图1示出了一种适用于本申请实施例的应用场景的示意图。FIG. 1 shows a schematic diagram of an application scenario applicable to this embodiment of the present application.

图2示出了根据本申请一个实施例的显示方法流程图。FIG. 2 shows a flowchart of a display method according to an embodiment of the present application.

图3示出了根据本申请另一个实施例的显示方法流程图。FIG. 3 shows a flowchart of a display method according to another embodiment of the present application.

图4示出了本申请实施例提供的一种实施方式的使用场景示意图。FIG. 4 shows a schematic diagram of a usage scenario of an implementation manner provided by an embodiment of the present application.

图5示出了本申请实施例提供的另一种实施方式的一种使用场景示意图。FIG. 5 shows a schematic diagram of a usage scenario of another implementation manner provided by an embodiment of the present application.

图6示出了本申请实施例提供的另一种实施方式的另一种使用场景示意图。FIG. 6 shows a schematic diagram of another usage scenario of another implementation manner provided by an embodiment of the present application.

图7示出了本申请实施例提供的另一种实施方式的又一种使用场景示意图。FIG. 7 shows a schematic diagram of still another usage scenario of another implementation manner provided by an embodiment of the present application.

图8示出了本申请实施例提供的另一种实施方式的再一种使用场景示意图。FIG. 8 shows a schematic diagram of still another usage scenario of another implementation manner provided by an embodiment of the present application.

图9示出了本申请实施例提供的另一种实施方式中的可选方式的一种使用场景示意图。FIG. 9 shows a schematic diagram of a usage scenario of an optional manner in another implementation manner provided by an embodiment of the present application.

图10示出了本申请实施例提供的另一种实施方式中的可选方式的另一种使用场景示意图。FIG. 10 shows a schematic diagram of another usage scenario of an optional manner in another implementation manner provided by an embodiment of the present application.

图11示出了根据本申请实施例的显示方法中步骤S240的流程图。FIG. 11 shows a flowchart of step S240 in the display method according to an embodiment of the present application.

图12示出了根据本申请实施例的显示方法中步骤S260的流程图。FIG. 12 shows a flowchart of step S260 in the display method according to an embodiment of the present application.

图13示出了根据本申请一个实施例的显示装置的一种框图。FIG. 13 shows a block diagram of a display device according to an embodiment of the present application.

图14示出了根据本申请一个实施例的显示装置中第二位置获取模块的框图。FIG. 14 shows a block diagram of a second position acquisition module in a display device according to an embodiment of the present application.

图15示出了根据本申请一个实施例的显示装置的另一种框图。FIG. 15 shows another block diagram of a display device according to an embodiment of the present application.

图16是本申请实施例的用于执行根据本申请实施例的显示方法的终端设备的框图。FIG. 16 is a block diagram of a terminal device for executing a display method according to an embodiment of the present application according to an embodiment of the present application.

图17是本申请实施例的用于保存或者携带实现根据本申请实施例的显示方法的程序代码的存储单元。FIG. 17 is a storage unit for storing or carrying a program code for implementing a display method according to an embodiment of the present application according to an embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。In order to make those skilled in the art better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

在多数增强现实技术的应用场景中，应用场景中会设置有标记物，标记物用于虚拟内容的显示。终端设备在进行虚拟内容的显示时，会利用其摄像头等图像采集装置对标记物进行成像，然后根据成像对标记物的信息进行识别，得到识别结果，再根据识别结果对虚拟内容进行显示。In most application scenarios of augmented reality technology, markers are set in the application scenarios, and the markers are used for displaying virtual content. When displaying virtual content, the terminal device will use its camera and other image acquisition devices to image the marker, and then identify the marker information according to the imaging to obtain the recognition result, and then display the virtual content according to the recognition result.

并且，多数应用场景中设置有一个标记物，终端设备通过识别该标记物将虚拟对象叠加到真实场景中。但是由于终端设备的视野有限，当场景内的标记物在终端设备的视野范围内丢失时，则无法识别到场景内的标记物的信息，导致终端设备无法实现对于虚拟内容的显示。例如，应用场景为桌面的桌布时，标记物设置于桌面一位置，终端设备在识别到标记物的信息后，根据标记物信息将虚拟桌布显示于桌面，但是在终端设备的位置发生变化，使得标记物在终端设备的视野范围内丢失时，则无法识别到标记物的信息，使虚拟桌布无法显示于桌面。In addition, a marker is set in most application scenarios, and the terminal device superimposes the virtual object on the real scene by recognizing the marker. However, due to the limited field of view of the terminal device, when the marker in the scene is lost within the field of view of the terminal device, the marker information in the scene cannot be recognized, resulting in the terminal device being unable to display virtual content. For example, when the application scenario is a desktop wallpaper, the marker is set at a position on the desktop. After the terminal device recognizes the marker information, it displays the virtual wallpaper on the desktop according to the marker information, but the position of the terminal device changes, so that When the marker is lost in the field of view of the terminal device, the information of the marker cannot be recognized, so that the virtual tablecloth cannot be displayed on the desktop.

针对上述问题，发明人经过长时间的研究并提出了本申请实施例提供的显示方法、装置、终端设备以及存储介质，以提升终端设备显示的稳定性。In view of the above problems, the inventor has made a long-term research and proposed the display method, device, terminal device and storage medium provided by the embodiments of the present application, so as to improve the display stability of the terminal device.

下面对本申请实施例提供的显示方法的应用场景进行介绍。The following describes application scenarios of the display methods provided by the embodiments of the present application.

请参见图1，示出了本申请实施例提供的显示方法的应用场景的示意图，该应用场景包括显示系统10。该显示系统10包括：终端设备100以及多个标记物200。Referring to FIG. 1 , it shows a schematic diagram of an application scenario of the display method provided by the embodiment of the present application, where the application scenario includes adisplay system 10 . Thedisplay system 10 includes: aterminal device 100 and a plurality ofmarkers 200 .

其中，上述多个标记物200可以分离设置在场景中不同的位置。例如，多个标记物200可以分离设置于桌面，也可以分离设置于地面的一块区域内，当然，上述多个标记物实际设置的场景在本申请实施例中并不作为限定。Wherein, the above-mentionedmultiple markers 200 may be separated and set at different positions in the scene. For example, the plurality ofmarkers 200 may be separately arranged on the desktop, or may be separately arranged in an area of the ground. Of course, the actual setting of the above-mentioned plurality of markers is not limited in the embodiment of the present application.

在本申请实施例中，终端设备100可以是头戴显示装置，也可以是手机、平板等移动设备。终端设备100为头戴显示装置时，头戴显示装置可以为一体式头戴显示装置。终端设备100也可以是与外接式头戴显示装置连接的手机等智能终端，即终端设备100可作为头戴显示装置的处理和存储设备，插入或者接入外接式头戴显示装置，在头戴显示装置中对虚拟对象进行显示功能。In this embodiment of the present application, theterminal device 100 may be a head-mounted display device, or may be a mobile device such as a mobile phone or a tablet. When theterminal device 100 is a head-mounted display device, the head-mounted display device may be an integrated head-mounted display device. Theterminal device 100 can also be a smart terminal such as a mobile phone connected to an external head-mounted display device, that is, theterminal device 100 can be used as a processing and storage device of the head-mounted display device, and the external The display device performs a display function for virtual objects.

在本申请实施例中，上述多个标记物200的图像存储于终端设备100中。上述多个标记物200中的每个标记物可以包括至少一个具有一个或者多个特征点的子标记物。当上述多个标记物200中的任意一个或多个标记物处于终端设备100的视野范围内时，终端设备100可将上述多个标记物200中处于视野范围内的其中一个标记物作为目标标记物，并采集包含该目标标记物的图像。在采集到包含该目标标记物的图像时，可以识别采集到的目标标记物的图像，得到该目标标记物相对终端设备的位置、朝向等空间位置信息，以及目标标记物的身份信息等识别结果。终端设备可基于上述多个标记物200之间的空间位置关系、目标标记物相对终端设备的空间位置等信息显示相应的虚拟对象。可以理解地，具体的标记物在本申请实施例中并不作为限定，仅需可以被终端设备识别追踪即可。In this embodiment of the present application, the images of the above-mentionedmultiple markers 200 are stored in theterminal device 100 . Each of the above-mentioned plurality ofmarkers 200 may include at least one sub-marker having one or more feature points. When any one or more markers among the plurality ofmarkers 200 are within the field of view of theterminal device 100, theterminal device 100 may use one of the markers within the field of view among the plurality ofmarkers 200 as a target marker target and acquire an image containing the target marker. When an image containing the target marker is collected, the collected image of the target marker can be identified, and the spatial position information such as the position and orientation of the target marker relative to the terminal device, and the identification results such as the identity information of the target marker can be obtained. . The terminal device may display the corresponding virtual object based on the above-mentioned information such as the spatial positional relationship between the plurality ofmarkers 200, the spatial position of the target marker relative to the terminal device, and the like. It can be understood that the specific marker is not limited in the embodiments of the present application, and only needs to be identified and tracked by the terminal device.

请参阅图2，本申请实施例提供了一种显示方法，可应用于终端设备，该方法可以包括：Referring to FIG. 2, an embodiment of the present application provides a display method, which can be applied to a terminal device, and the method may include:

步骤S110：采集包含目标标记物的图像，其中，目标标记物为多个标记物中处于终端设备视野范围内的至少一个标记物，多个标记物分离设置在不同的位置。Step S110: Collect an image including a target marker, wherein the target marker is at least one marker among the multiple markers that is within the field of view of the terminal device, and the multiple markers are separated and arranged at different positions.

在本申请实施例中，多个标记物分离设置于实际场景中不同的位置，该多个标记物为至少两个标记物，多个标记物设置的位置可以是固定的，也可以是根据需求可随时进行变动的。在终端设备需要对虚拟对象显示时，可以对存在于终端设备的视野范围内的目标标记物进行图像采集，该目标标记物为多个标记物中存在于终端设备的视野范围内的至少一个标记物。其中，终端设备的视野范围指终端设备的图像采集装置的视野范围，图像采集装置的视野范围可以由视场角的大小决定。In the embodiment of the present application, a plurality of markers are separately arranged at different positions in the actual scene, the plurality of markers are at least two markers, and the positions of the plurality of markers can be fixed or according to requirements. can be changed at any time. When the terminal device needs to display the virtual object, the target marker existing in the field of view of the terminal device can be imaged, where the target marker is at least one marker that exists in the field of view of the terminal device among the plurality of markers thing. The field of view of the terminal device refers to the field of view of the image acquisition device of the terminal device, and the field of view of the image acquisition device may be determined by the size of the field of view.

在本申请实施例中，上述标记物可以包括至少一个子标记物，子标记物可以是具有一定形状的图案。在一个实施例中，每个子标记物可具有一个或多个特征点，其中，特征点的形状不做限定，可以是圆点、圆环，也可以是三角形、其他形状。另外，不同标记物内的子标记物的分布规则不同，因此，每个标记物可具备不同的身份信息。终端设备通过识别标识物中包含的子标记物，可以获取与标记物对应的身份信息，该身份信息可以是编码等可用于唯一标识标记物的信息，但不限于此。In the embodiment of the present application, the above-mentioned marker may include at least one sub-marker, and the sub-marker may be a pattern having a certain shape. In one embodiment, each sub-marker may have one or more feature points, wherein the shape of the feature points is not limited, and may be a dot, a ring, or a triangle or other shapes. In addition, the distribution rules of sub-markers in different markers are different, so each marker can have different identity information. The terminal device can obtain identity information corresponding to the marker by identifying the sub-marker contained in the marker, and the identity information may be information such as code that can be used to uniquely identify the marker, but is not limited thereto.

作为一种实施方式，标记物的轮廓可以为矩形，当然，标记物的形状也可以是其他形状，在此不做限定，矩形的区域以及该区域内的多个子标记物构成一个标记物。当然，上述标记物也可以为由光点构成的自身可以发光的物体等，光点标记物可以发射不同波段或不同颜色的光，终端设备通过识别光点标记物发出的光的波段或颜色等信息获取与标记物对应的身份信息。当然，具体的标记物在本申请实施例中并不作为限定，标记物仅需要标记物能被终端设备识别即可。As an implementation manner, the outline of the marker may be a rectangle. Of course, the shape of the marker may also be other shapes, which are not limited here. The rectangular area and multiple sub-markers in the area constitute a marker. Of course, the above-mentioned markers can also be objects composed of light spots that can emit light by themselves, etc. The light spot markers can emit light in different wavelength bands or colors, and the terminal device can identify the wavelength band or color of the light emitted by the light spot markers, etc. The information acquires the identity information corresponding to the marker. Of course, the specific marker is not limited in the embodiments of the present application, and the marker only needs to be recognized by the terminal device.

从而，可以得到包含上述目标标记物的图像，以用于后续确定虚拟对象的位置。Thus, an image containing the above-mentioned target marker can be obtained for subsequent determination of the position of the virtual object.

步骤S120：根据图像获取目标标记物相对终端设备的目标空间位置。Step S120: Acquire the target spatial position of the target marker relative to the terminal device according to the image.

在终端设备得到包含上述目标标记物的图像之后，则可以对该包含上述目标标记物的图像进行识别，以得到对目标标记物的识别结果。其中，对目标标记物的识别结果可以包括目标标记物相对终端设备的目标空间位置，以及目标标记物的身份信息等。其中，目标空间位置可以包括目标标记物相对终端设备的位置以及姿态信息等，姿态信息为目标标记物相对终端设备的朝向及旋转角度。After the terminal device obtains the image including the target marker, the image including the target marker can be recognized to obtain the recognition result of the target marker. Wherein, the identification result of the target marker may include the target spatial position of the target marker relative to the terminal device, and the identity information of the target marker, and the like. The target spatial position may include the position and attitude information of the target marker relative to the terminal device, and the attitude information is the orientation and rotation angle of the target marker relative to the terminal device.

从而，可以得到上述目标标记物相对终端设备的目标空间位置。Thus, the target spatial position of the target marker relative to the terminal device can be obtained.

步骤S130：读取存储的多个标记物之间的第一空间位置关系，并获取虚拟对象相对多个标记物的第二空间位置关系。Step S130: Read the stored first spatial positional relationship between the plurality of markers, and acquire the second spatial positional relationship of the virtual object relative to the plurality of markers.

在本申请实施例中，在本次进行虚拟对象的显示前，终端设备可先采集一张或多张图像，该一张或多张图像中可包含有分离设置在不同位置的多个标记物，再根据该一张或多张图像对多个标记物进行识别，建立多个标记物之间的第一空间位置关系并存储于终端设备中，基于该第一空间位置关系，可以获得不同标记物之间相对的空间位置。In this embodiment of the present application, before the virtual object is displayed this time, the terminal device may first collect one or more images, and the one or more images may include multiple markers that are separated and arranged at different positions , and then identify multiple markers according to the one or more images, establish a first spatial positional relationship between the multiple markers and store them in the terminal device. Based on the first spatial positional relationship, different markers can be obtained. relative spatial position between objects.

当然，在一些多个标记物的位置固定情况下，该显示方法在首次实施后，多个标记物的第一空间位置关系在存储于终端设备中，后续在实施该显示方法时则不需要获取多个标记物之间的第一空间位置关系，即后续实施该显示方法时读取的第一空间位置关系为该显示方法首次实施时所获得的多个标记物之间的第一空间位置关系。例如，在博物馆等室内场景中，多个标记物可分别固定设置在不同的位置，设置的位置可预先存储在终端设备中，当用户进入博物馆时，采集到任意一个标记物的图像，即可根据预先存储的多个标记物之间的第一空间位置关系得到其他标记物的位置、姿态等信息，并显示相应的虚拟对象。Of course, in the case where the positions of some markers are fixed, after the display method is implemented for the first time, the first spatial positional relationship of the markers is stored in the terminal device, and subsequent implementation of the display method does not need to acquire The first spatial positional relationship between the plurality of markers, that is, the first spatial positional relationship read when the display method is subsequently implemented is the first spatial positional relationship between the plurality of markers obtained when the display method is implemented for the first time . For example, in an indoor scene such as a museum, multiple markers can be fixed and set at different positions, and the set positions can be stored in the terminal device in advance. When the user enters the museum, the image of any marker is collected, then Information such as positions and postures of other markers is obtained according to the pre-stored first spatial positional relationship between the multiple markers, and corresponding virtual objects are displayed.

另外，终端设备可获取虚拟对象相对多个标记物的第二空间位置关系，即虚拟对象需要显示的位置与多个标记物之间的位置关系，该第二空间位置关系可根据实际需求进行设定，比如，可以是虚拟对象处于多个标记物构成的区域的中心位置，或是虚拟对象处于其中一个标记物上等，但不限于此。该第二空间位置关系可以预先存储于终端设备中，也可以由用户进行实时选择等。In addition, the terminal device can obtain the second spatial positional relationship of the virtual object relative to the plurality of markers, that is, the positional relationship between the position where the virtual object needs to be displayed and the plurality of markers, and the second spatial positional relationship can be set according to actual needs. For example, the virtual object may be located at the center of an area formed by a plurality of markers, or the virtual object may be located on one of the markers, etc., but not limited to this. The second spatial positional relationship may be pre-stored in the terminal device, or may be selected by the user in real time, or the like.

步骤S140：基于第一空间位置关系、第二空间位置关系以及目标空间位置，确定虚拟对象的显示位置。Step S140: Determine the display position of the virtual object based on the first spatial positional relationship, the second spatial positional relationship, and the target spatial position.

在得到上述目标标记物相对终端设备的目标空间位置之后，则可以根据多个标记物之间的第一空间位置关系以及虚拟对象相对多个标记物的位置关系，确定出虚拟对象相对目标标记物的位置关系。After the target spatial position of the target marker relative to the terminal device is obtained, the virtual object relative to the target marker can be determined according to the first spatial positional relationship between the plurality of markers and the positional relationship of the virtual object relative to the plurality of markers positional relationship.

在传统的方式中，终端设备显示虚拟对象时，需要保证多个标记物同时存在于视野范围内，才能准确得到虚拟对象的显示位置，因此限制了标记物识别、跟踪的范围。在本申请的实施例中，终端设备可根据虚拟对象相对多个标记物的第二空间位置关系，以及多个标记物之间的第一空间位置关系，得到虚拟对象相对目标标记物的位置关系。基于虚拟对象相对目标标记物的位置关系，以及目标标记物相对终端设备的目标空间位置，以目标标记物作为参照，即可获得虚拟对象相对终端设备的空间位置。In the traditional method, when a terminal device displays a virtual object, it is necessary to ensure that multiple markers exist in the field of view at the same time, so that the display position of the virtual object can be accurately obtained, thus limiting the scope of marker identification and tracking. In the embodiment of the present application, the terminal device can obtain the positional relationship of the virtual object relative to the target marker according to the second spatial positional relationship of the virtual object relative to the multiple markers and the first spatial positional relationship between the multiple markers . Based on the positional relationship of the virtual object relative to the target marker, and the target spatial position of the target marker relative to the terminal device, and using the target marker as a reference, the spatial position of the virtual object relative to the terminal device can be obtained.

终端设备可将虚拟对象相对终端设备的空间位置，进行坐标转换，得到虚拟对象在终端设备的显示空间中的显示位置，以用于后续对虚拟对象进行显示。The terminal device can perform coordinate transformation on the spatial position of the virtual object relative to the terminal device to obtain the display position of the virtual object in the display space of the terminal device, which is used for subsequent display of the virtual object.

步骤S150：根据显示位置对虚拟对象进行显示。Step S150: Display the virtual object according to the display position.

在得到虚拟对象的显示位置之后，则可以对虚拟对象进行显示。具体的，终端设备可以基于虚拟对象的数据将虚拟对象显示于该显示位置。其中，虚拟对象的数据可以为虚拟对象的模型数据。After the display position of the virtual object is obtained, the virtual object can be displayed. Specifically, the terminal device may display the virtual object at the display position based on the data of the virtual object. The data of the virtual object may be model data of the virtual object.

在本申请实施例中，可以通过终端设备观察虚拟对象，终端设备的用户可以进行位置的移动，虚拟对象也会随用户位置的移动而变化。例如，终端设备远离虚拟对象于真实场景中的位置时，则虚拟对象变小，反之，靠近虚拟对象于真实场景中的位置时，虚拟对象变大等。另外，也可以进行显示内容的录制，以便于本次观察以后的观察以及分析。In the embodiment of the present application, the virtual object can be observed through the terminal device, the user of the terminal device can move the position, and the virtual object also changes with the movement of the user's position. For example, when the terminal device is far from the position of the virtual object in the real scene, the virtual object becomes smaller; on the contrary, when the terminal device is close to the position of the virtual object in the real scene, the virtual object becomes larger. In addition, it is also possible to record the displayed content to facilitate observation and analysis after this observation.

从而，本申请实施例提供的显示方法，通过采集包含目标标记物的图像，目标标记物为多个标记物中处于终端设备视野范围内的至少一个标记物，然后根据该图像获取目标标记物相对终端设备的目标空间位置，读取存储的多个标记物之间的第一空间位置关系，并获取虚拟对象相对多个标记物的第二空间位置关系，再基于上述多个标记物之间的第一空间位置关系、目标空间位置以及虚拟对象相对多个标记物之间的第二空间位置关系，确定出虚拟对象的显示位置，最后根据显示位置对虚拟对象进行显示。实现了终端设备对多个标记物中处于视野范围内的一个目标标记物进行识别，即可以实现对于虚拟内容的显示。并且多个标记物分离设置在多个不同的位置，终端设备识别到任意一个标记物，即可确定其他不在视野范围内标记物所在位置，实现大范围的标记物的识别和追踪，提升终端设备对虚拟对象显示的稳定性。Therefore, in the display method provided by the embodiment of the present application, by collecting an image containing a target marker, the target marker is at least one marker within the field of view of the terminal device among the plurality of markers, and then obtaining the relative relative value of the target marker according to the image. The target spatial position of the terminal device, reads the stored first spatial positional relationship between the multiple markers, and obtains the second spatial positional relationship of the virtual object relative to the multiple markers, and then based on the above-mentioned multiple markers. The first space position relationship, the target space position, and the second space position relationship between the virtual object relative to the plurality of markers determine the display position of the virtual object, and finally display the virtual object according to the display position. It is realized that the terminal device can identify a target marker within the field of view among the plurality of markers, that is, the display of virtual content can be realized. And multiple markers are separated and set in multiple different positions. When the terminal device recognizes any marker, it can determine the location of other markers that are not in the field of view, so as to realize the identification and tracking of markers in a large range, and improve the terminal equipment. Stability of display for virtual objects.

请参阅图3，本申请另一实施例提供了一种显示方法，可应用于终端设备，该方法可以包括：Referring to FIG. 3, another embodiment of the present application provides a display method, which can be applied to a terminal device, and the method may include:

步骤S210：获取多个标记物之间的第一空间位置关系。Step S210: Acquire the first spatial positional relationship between the plurality of markers.

在本申请实施例中，可以预先获取多个标记物之间的第一空间位置关系，以便后续确定虚拟对象的显示位置。In this embodiment of the present application, the first spatial positional relationship between the plurality of markers may be acquired in advance, so as to subsequently determine the display position of the virtual object.

作为一种实施方式，获取多个标记物的第一空间位置关系可以包括：As an implementation manner, acquiring the first spatial positional relationship of the plurality of markers may include:

对分离设置的多个标记物进行图像采集，得到包含多个标记物的图像；基于包含多个标记物的图像，获得多个标记物之间的第一空间位置关系。Image acquisition is performed on a plurality of markers arranged separately to obtain an image containing the plurality of markers; based on the image containing the plurality of markers, a first spatial positional relationship between the plurality of markers is obtained.

可以理解的是，终端设备可以在处于一些位置时，多个标记物全部处于终端设备的图像采集装置的视野范围内，此时终端设备可以对多个标记物进行图像采集得到包含上述多个标记物的图像，其中，包含上述多个标记物的图像中应当包含上述多个标记物中的所有标记物。It can be understood that, when the terminal device is in some positions, all the multiple markers are within the field of view of the image acquisition device of the terminal device. The image of the object, wherein the image containing the plurality of markers should include all the markers in the plurality of markers.

在得到包含上述多个标记物的图像之后，再对上述多个标记物中的每个标记物进行识别，可以得到上述多个标记物中的每个标记物相对终端设备的空间位置以及身份信息等识别结果。After the image containing the plurality of markers is obtained, each marker of the plurality of markers is identified, and the spatial position and identity information of each marker of the plurality of markers relative to the terminal device can be obtained Wait for the identification result.

然后，基于上述多个标记物中的每个标记物相对终端设备的空间位置关系以及身份信息等识别结果，可以建立上述多个标记物之间的空间位置关系。Then, based on the spatial positional relationship of each of the plurality of markers relative to the terminal device and identification results such as identity information, the spatial positional relationship between the plurality of markers can be established.

其中，可以根据上述多个标记物中每个标记物相对终端设备的空间位置以及每个标记物的身份信息，依次获得每个标记物相对其他标记物之间的空间位置关系，从而得到多个标记物之间的空间位置关系。例如，如图4所示，多个标记物包括标记物A、标记物B、标记物C、标记物D以及标记物E，终端设备可以获取同时包含标记物A、标记物B、标记物C、标记物D以及标记物E的图像，根据图像可以获得标记物A相对终端设备的空间位置、标记物B相对终端设备的空间位置、标记物C相对终端设备的空间位置、标记物D相对终端设备的空间位置以及标记物E相对终端设备的空间位置。根据上述标记物A、标记物B、标记物C、标记物D以及标记物E分别相对终端设备的空间位置，可以获得标记物A与标记物B、标记物A与标记物C、标记物A与标记物D以及标记物A与标记物E之间的空间位置关系，还可以获得标记物B与标记物C、标记物B与标记物D以及标记物B与标记物E之间的空间位置关系，还可以获得标记物C与标记物D以及标记物C与标记物E之间的空间位置关系，还可以标记物D与标记物E之间的空间位置关系，从而得到标记物A、标记物B、标记物C、标记物D以及标记物E之间的第一空间位置关系。Wherein, according to the spatial position of each marker relative to the terminal device in the above-mentioned multiple markers and the identity information of each marker, the spatial positional relationship between each marker relative to other markers can be sequentially obtained, so as to obtain a plurality of markers. Spatial positional relationship between markers. For example, as shown in FIG. 4 , multiple markers include marker A, marker B, marker C, marker D, and marker E, and the terminal device can obtain markers that include marker A, marker B, marker C at the same time , the images of marker D and marker E. According to the images, the spatial position of marker A relative to the terminal device, the spatial position of marker B relative to the terminal device, the spatial position of marker C relative to the terminal device, and the relative position of marker D to the terminal device can be obtained. The spatial position of the device and the spatial position of the marker E relative to the terminal device. According to the spatial positions of the above-mentioned marker A, marker B, marker C, marker D and marker E respectively relative to the terminal device, marker A and marker B, marker A and marker C, marker A and marker A can be obtained. The spatial relationship between marker D and marker A and marker E, the spatial position between marker B and marker C, marker B and marker D, and marker B and marker E can also be obtained The relationship between marker C and marker D, as well as the spatial positional relationship between marker C and marker E, and the spatial positional relationship between marker D and marker E can also be obtained to obtain marker A, marker The first spatial positional relationship between marker B, marker C, marker D and marker E.

也可以根据上述多个标记物中每个标记物相对终端设备的空间位置以及每个标记物的身份信息，依次获得所有位置相邻的标记物之间的空间位置，得到多个标记物之间的空间位置关系。例如，标记物包括标记物A、标记物B、标记物C、标记物D以及标记物E时，标记物A与标记物B相邻，标记物B与标记物C相邻，标记物C与标记物D相邻，标记物D与标记物E相邻时，则可以分别获取标记物A与标记物B、标记物B与标记物C、标记物C与标记物D、以及标记物D与标记物E的空间位置关系，得到多个标记物之间的位置关系。另外，在上述举例中，若多个标记物还存在其他相邻关系，也可以通过获得其他相邻的标记物之间的空间位置关系，得到多个标记物之间的空间位置关系，满足至少获得四个相邻关系的标记物之间的空间位置关系，并且获得的具备相邻关系的标记物之间的空间位置关系中不存在孤岛即可，即获得的具备相邻关系的标记物之间的空间位置关系中不存在单独的空间位置关系，该单独的空间位置关系指的是，该单独的空间位置关系所对应的相邻的标记物与其他空间位置关系中任一空间位置关系对应的相邻的标记物之间不存在相同的标记物。Alternatively, according to the spatial position of each marker relative to the terminal device in the above-mentioned multiple markers and the identity information of each marker, the spatial positions between the markers adjacent to all positions can be obtained in turn, and the distance between the multiple markers can be obtained. spatial relationship. For example, when the markers include marker A, marker B, marker C, marker D, and marker E, marker A is adjacent to marker B, marker B is adjacent to marker C, and marker C is adjacent to marker C When marker D is adjacent to marker D and marker D is adjacent to marker E, marker A and marker B, marker B and marker C, marker C and marker D, and marker D and marker can be obtained respectively. The spatial positional relationship of the marker E is obtained to obtain the positional relationship between multiple markers. In addition, in the above example, if there are other adjacent relationships among the multiple markers, the spatial positional relationship between the multiple markers can also be obtained by obtaining the spatial positional relationship between the other adjacent markers, which satisfies at least The spatial positional relationship between the four markers with the adjacent relationship is obtained, and there is no island in the obtained spatial positional relationship between the markers with the adjacent relationship, that is, the obtained markers with the adjacent relationship are among the There is no separate spatial positional relationship in the spatial positional relationship between the The same marker does not exist between adjacent markers.

作为另一种实施方式，获取多个标记物的第一空间位置关系也可以包括：获取对分离设置的多个标记物进行多次图像采集而得到的多张图像，其中，每张图像至少包含两个标记物，相邻两次图像采集的图像中包含至少一个相同标记物；基于多次图像采集的多张图像，获得每张图像中包含的至少两个标记物之间的位置关系；基于每张图像中的标记物之间的位置关系，得到多个标记物之间的第一空间位置关系。As another implementation manner, acquiring the first spatial positional relationship of the multiple markers may also include: acquiring multiple images obtained by performing multiple image acquisitions on the multiple markers that are separately set, wherein each image at least contains Two markers, at least one identical marker is included in the images captured by two adjacent images; based on multiple images captured by multiple images, the positional relationship between at least two markers included in each image is obtained; based on The positional relationship between the markers in each image is obtained to obtain the first spatial positional relationship between the plurality of markers.

可以理解的是，除了上述通过一次采集上述多个标记物的图像，获得多个标记物之间的第一空间位置关系的实施方式以外，还可以分为多次采集标记物的图像，然后根据多次采集的标记物的图像，获得上述多个标记物之间的第一空间位置关系。It can be understood that, in addition to the above-mentioned embodiment in which the first spatial positional relationship between the plurality of markers is obtained by collecting the images of the plurality of markers at one time, the images of the markers can also be collected multiple times, and then according to The images of the markers collected multiple times are used to obtain the first spatial positional relationship between the plurality of markers.

可以分多次采集分离设置在不同位置的多个标记物，并且每次采集的标记物的图像中应当至少包括两个标记物。另外，多次采集的标记物图像中应互有至少一个相同的标记物，以保证根据多次采集的标记物的图像获得的多个空间位置关系之间不存在孤岛，即多个空间位置关系中不存在独立的空间位置关系，该单独的空间位置关系指的是，该单独的空间位置关系所对应的图像中的标记物与其他空间位置关系中任一空间位置关系对应的图像中的标记物之间不存在相同的标记物。作为一种方式，可以相邻两次采集的标记物的图像中包含至少一个相同的标记物，例如，请同时参见图7、图8、图9以及图10，标记物包括标记物A、标记物B、标记物C、标记物D以及标记物E时。如图7所示，第一次可以采集包含标记物A以及标记物B的图像。如图8所示，第二次可以采集包含标记物B以及标记物C的图像。如图9所示，第三次可以采集包含标记物C以及标记物D的图像。如图10所示，第四次可以采集包含标记物D以及标记物E的图像，从而第一次采集的图像与第二采集的图像中包含有相同的标记物B，第二次采集的图像与第三采集的图像中包含有相同的标记物C，第三次采集的图像与第四采集的图像中包含有相同的标记物D。A plurality of markers arranged at different positions can be separated into multiple acquisitions, and at least two markers should be included in the image of each acquired marker. In addition, there should be at least one identical marker in the marker images collected multiple times to ensure that there is no isolated island between the multiple spatial positional relationships obtained from the images of the multiple collected markers, that is, multiple spatial positional relationships There is no independent spatial position relationship in the image, and the independent spatial position relationship refers to the marker in the image corresponding to the single spatial position relationship and the marker in the image corresponding to any one of the other spatial position relationships. The same markers do not exist between the objects. As a method, at least one identical marker can be included in the images of markers acquired twice adjacently. For example, please refer to FIG. 7 , FIG. 8 , FIG. 9 and FIG. When using marker B, marker C, marker D and marker E. As shown in Figure 7, an image containing marker A and marker B can be acquired for the first time. As shown in FIG. 8 , an image containing marker B and marker C can be acquired a second time. As shown in FIG. 9 , an image containing marker C and marker D can be acquired for the third time. As shown in FIG. 10 , the image containing the marker D and the marker E can be collected for the fourth time, so that the image collected for the first time and the image collected for the second time contain the same marker B, and the image collected for the second time contains the same marker B. The same marker C is included in the third captured image, and the same marker D is included in the third captured image and the fourth captured image.

在获得多次采集的标记物的多张图像之后，则可以对每张图像进行识别，获得每张图像中的标记物之间的空间位置关系，然后再基于每张图像中的标记物之间的空间位置关系，选择图像中包含的相同标记物作为参照，从而得到多个标记物之间的第一空间位置关系。例如，上述举例中，对第一次采集的包含标记物A以及标记物B的图像进行识别，可以获得标记物A相对终端设备的空间位置以及标记物B相对终端设备的空间位置，然后根据标记物A以及标记物B相对终端设备的空间位置，得到标记物A与标记物B之间的空间位置关系；对第二次采集的包含标记物B以及标记物C的图像进行识别，可以获得标记物B相对终端设备的空间位置以及标记物C相对终端设备的空间位置，然后根据标记物B以及标记物C相对终端设备的空间位置，得到标记物B与标记物C之间的空间位置关系；对第三次采集的包含标记物C以及标记物D的图像进行识别，可以获得标记物C相对终端设备的空间位置以及标记物D相对终端设备的空间位置，然后根据标记物C以及标记物D相对终端设备的空间位置，得到标记物C与标记物D之间的空间位置关系；对第四次采集的包含标记物D以及标记物E的图像进行识别，可以获得标记物D相对终端设备的空间位置以及标记物E相对终端设备的空间位置，然后根据标记物D以及标记物E相对终端设备的空间位置，得到标记物D与标记物E之间的空间位置关系；然后根据标记物A与标记物B之间的空间位置关系，标记物B与标记物C之间的空间位置关系，标记物C与标记物D之间的空间位置关系，标记物D与标记物E之间的空间位置关系，即可建立标记物A、标记物B、标记物C、标记物D以及标记物E之间的空间位置关系，即多个标记物之间的第一空间位置关系，从而根据标记物A、标记物B、标记物C、标记物D以及标记物E中任一标记物相对终端设备的空间位置，利用第一空间位置关系，即可得到其他标记物中每个标记物相对终端设备的空间位置。After obtaining multiple images of markers collected for multiple times, each image can be identified, the spatial positional relationship between markers in each image can be obtained, and then based on the relationship between markers in each image The spatial positional relationship between the multiple markers is selected, and the same marker contained in the image is selected as a reference, so as to obtain the first spatial positional relationship between the multiple markers. For example, in the above example, by identifying the image containing marker A and marker B collected for the first time, the spatial position of marker A relative to the terminal device and the spatial position of marker B relative to the terminal device can be obtained. The spatial position of marker A and marker B relative to the terminal device is obtained, and the spatial positional relationship between marker A and marker B is obtained; by identifying the image containing marker B and marker C collected for the second time, the marker can be obtained. The spatial position of the marker B relative to the terminal device and the spatial position of the marker C relative to the terminal device, and then according to the spatial position of the marker B and the marker C relative to the terminal device, the spatial position relationship between the marker B and the marker C is obtained; By identifying the images containing marker C and marker D collected for the third time, the spatial position of marker C relative to the terminal device and the spatial position of marker D relative to the terminal device can be obtained. Relative to the spatial position of the terminal device, the spatial positional relationship between the marker C and the marker D is obtained; by identifying the image containing the marker D and the marker E collected for the fourth time, the relative position of the marker D to the terminal device can be obtained. The spatial position and the spatial position of the marker E relative to the terminal device, and then according to the spatial position of the marker D and the marker E relative to the terminal device, the spatial positional relationship between the marker D and the marker E is obtained; The spatial positional relationship between markers B, the spatial positional relationship between marker B and marker C, the spatial positional relationship between marker C and marker D, the spatial positional relationship between marker D and marker E relationship, the spatial positional relationship between marker A, marker B, marker C, marker D, and marker E can be established, that is, the first spatial positional relationship between multiple markers , marker B, marker C, marker D, and marker E. The spatial position of any marker relative to the terminal device, using the first spatial positional relationship, the relative value of each marker in the other markers relative to the terminal device can be obtained. Spatial location.

在上述通过多次采集标记物的图像，获取多个标记物之间的第一空间位置关系的实施方式中，可以通过两次采集标记物的图像，获取多个标记物之间的第一空间位置关系。具体的，可以对分离设置在不同位置的多个标记物中的第一部分标记物进行图像采集，得到包含第一部分标记物的标记物图像，第一部分标记物包括至少两个标记物；基于包含第一部分标记物的标记物图像，获取第一部分标记物之间的空间位置关系；对多个标记物中的第二部分标记物进行图像采集，得到包含第二部分标记物的标记物图像，第二部分标记物包括第一部分标记物中的至少一个标记物、以及多个标记物中除第一部分标记物以外的其他标记物；基于包含第二部分标记物的标记物图像，获取第二部分标记物之间的空间位置关系；根据第一部分标记物之间的空间位置关系以及第二部分标记物之间的空间位置关系，得到多个标记物之间的第一空间位置关系。In the above embodiment of acquiring the first spatial positional relationship between the multiple markers by collecting images of the markers multiple times, the first spatial relationship between the multiple markers can be acquired by collecting the images of the markers twice. Positional relationship. Specifically, image acquisition may be performed on the first part of the markers among the plurality of markers separated and arranged at different positions to obtain a marker image including the first part of the markers, where the first part of the markers includes at least two markers; A marker image of a part of the markers, to obtain the spatial positional relationship between the first part of the markers; image acquisition of the second part of the markers in the plurality of markers, to obtain a marker image including the second part of the markers, the second part of the markers. The partial markers include at least one marker in the first partial markers, and other markers in the plurality of markers except the first partial markers; obtaining the second partial markers based on the image of the markers including the second partial markers The spatial positional relationship between the markers; the first spatial positional relationship between the plurality of markers is obtained according to the spatial positional relationship between the first part of the markers and the spatial positional relationship between the second part of the markers.

可以理解的是，多个标记物分离设置于不同位置时，可能多个标记物分布的范围较大，由于终端设备的图像采集装置的视野范围有限，终端设备的图像采集装置无法一次获取包含所有标记物的图像，因此，可以分为两次对多个标记物进行采集图像，然后根据两次采集的标记物图像建立多个标记物之间的空间位置关系。It can be understood that when multiple markers are separated and arranged in different positions, the distribution range of multiple markers may be relatively large. Due to the limited field of view of the image acquisition device of the terminal device, the image acquisition device of the terminal device cannot obtain all the markers at one time. Therefore, the image of the marker can be divided into two times to collect images of the multiple markers, and then the spatial positional relationship between the multiple markers can be established according to the image of the markers collected twice.

上述多个标记物可以包括第一部分标记物以及第二部分标记物，其中，第一部分标记物包括至少两个标记物，第二部分标记物包括第一部分标记物中的至少一个标记物以及多个标记物中除第一部分标记物以外的其他标记物。The above-mentioned multiple markers may include a first partial marker and a second partial marker, wherein the first partial marker includes at least two markers, and the second partial marker includes at least one marker in the first partial marker and a plurality of markers. Markers other than the first part of the marker.

在采集第一部分标记物的图像以后，则可以识别包含第一部分标记物的图像，得到第一部分标记物中每个标记物相对终端设备的空间位置以及身份信息，然后根据第一部分标记物中每个标记物相对终端设备的空间位置以及身份信息，获得第一部分标记物之间的空间位置关系，即第一部分标记物中的所有标记物之间的空间位置关系。After the image of the first part of the markers is collected, the image containing the first part of the markers can be identified, the spatial position and identity information of each marker in the first part of the markers relative to the terminal device can be obtained, and then according to each marker in the first part of the marker The spatial position and identity information of the markers relative to the terminal device are used to obtain the spatial positional relationship between the markers in the first part, that is, the spatial positional relationship between all markers in the first part of the markers.

在采集第二部分标记物的图像以后，则可以识别包含第二部分标记物的图像，得到第二部分标记物中每个标记物相对终端设备的空间位置以及身份信息，然后根据第二部分标记物中每个标记物相对终端设备的空间位置以及身份信息，获得第二部分标记物之间的空间位置关系，即第二部分标记物中的所有标记物之间的空间位置关系。After the image of the second part of the marker is collected, the image containing the second part of the marker can be identified, the spatial position and identity information of each marker in the second part of the marker relative to the terminal device can be obtained, and then the marker according to the second part of the marker can be obtained. The spatial position and identity information of each marker in the object relative to the terminal device are obtained, and the spatial position relationship between the markers in the second part is obtained, that is, the spatial relationship between all markers in the second part of the markers.

由于第二部分标记物中包含有第一部分标记物中的至少一个标记物，因此可以以第一部分标记物与第二部分标记物中相同的标记物作为参照，根据第一部分标记物之间的空间位置关系以及第二部分标记物之间的空间位置关系，得到上述多个标记物之间的第一空间位置关系。根据获得的第一空间位置关系，以及其中一个标记物相对终端设备的空间位置，即可得到其他所有标记物相对终端设备的空间位置。Since the second part of the marker contains at least one marker of the first part of the marker, the same marker in the first part of the marker and the second part of the marker can be used as a reference, according to the space between the first part of the marker. The positional relationship and the spatial positional relationship between the second part of the markers are used to obtain the first spatial positional relationship among the above-mentioned multiple markers. According to the obtained first spatial position relationship and the spatial position of one of the markers relative to the terminal device, the spatial positions of all other markers relative to the terminal device can be obtained.

例如，请同时参见图5以及图6，多个标记物包括标记物A、标记物B、标记物C、标记物D以及标记物E时，可以先采集标记物A、标记物B以及标记物C的第一部分标记物的图像，然后根据包含标记物A、标记物B以及标记物C的第一部分标记物的图像，得到第一部分标记物之间的空间位置关系，即标记物A、标记物B以及标记物C之间的空间位置关系；然后采集标记物B、标记物D以及标记物E的第二部分标记物的图像，然后根据包含标记物B、标记物D以及标记物E的第二部分标记物的图像，得到第二部分标记物之间的空间位置关系，即标记物B、标记物D以及标记物E之间的空间位置关系；最后根据第一部分标记物之间的空间位置关系，以及第二部分标记物之间的空间位置关系，以标记物B作为参照，即可获得标记物A、标记物B、标记物C、标记物D以及标记物E之间的空间位置关系，即上述多个标记物之间的第一空间位置关系。其中，根据第一部分标记物的图像得到第一部分标记物之间的空间位置关系，以及根据第二部分标记物的图像得到第二部分标记物之间的空间位置关系，可以参照上个实施方式中的方案获取图像中标记物之间的空间位置关系，在此不再一一赘述。For example, referring to FIG. 5 and FIG. 6 at the same time, when multiple markers include marker A, marker B, marker C, marker D and marker E, marker A, marker B and marker can be collected first The image of the first part of the markers in C, and then according to the image of the first part of the markers including the marker A, the marker B and the marker C, the spatial positional relationship between the first part of the markers is obtained, that is, the marker A, the marker The spatial positional relationship between marker B and marker C; then, the images of marker B, marker D and marker E of the second part of markers are collected, and then according to the first part of marker B, marker D and marker E The image of the two parts of the markers is obtained to obtain the spatial positional relationship between the second part of the markers, that is, the spatial positional relationship between the marker B, the marker D and the marker E; finally, according to the spatial position of the first part of the markers The relationship and the spatial positional relationship between the second part of the markers, with the marker B as a reference, the spatial positional relationship between the marker A, the marker B, the marker C, the marker D and the marker E can be obtained , that is, the first spatial positional relationship between the above-mentioned multiple markers. Wherein, obtaining the spatial positional relationship between the first part of the markers according to the image of the first part of the markers, and obtaining the spatial positional relationship between the second part of the markers according to the image of the second part of the markers, can refer to the previous embodiment. The scheme obtains the spatial positional relationship between the markers in the image, which will not be repeated here.

作为又一种实施方式，终端设备可以每次仅对一个标记物进行图像采集，并根据终端设备的姿态变化信息，获得标记物之间的空间位置关系。具体的，第n次采集包含标记物Xn的图像，对包含标记物Xn的图像进行识别得到标记物Xn相对终端设备的位置，第n+1次采集包含标记物Xn+1的图像，对包含标记物Xn+1的图像进行识别得到标记物Xn+1相对终端设备的位置，并且通过VIO(Visual-Inertial Odometry，视觉惯性里程计)实时获取终端设备的6DOF(degree of freedom，自由度)信息，该6DOF信息可以包含终端设备的旋转、朝向等信息，从而可以得到终端设备第n+1次采集图像时相对第n次采集图像时的姿态变化信息，根据终端设备在第n+1次采集图像时相对第n次采集图像时的姿态变化信息、Xn相对终端设备的位置以及Xn+1相对终端设备的位置，即可得到标记物Xn与标记物Xn+1之间的空间位置关系，对所有的标记物图像进行上述操作即可实现获取多个标记物之间的第一空间位置关系。As another embodiment, the terminal device may only perform image acquisition on one marker at a time, and obtain the spatial positional relationship between the markers according to the attitude change information of the terminal device. Specifically, the image containing the marker Xn is collected for the nth time, the position of the marker Xn relative to the terminal device is obtained by identifying the image containing the marker Xn, and the image containing the marker Xn+1 is collected for the n+1th time. The image of the marker Xn+1 is recognized to obtain the position of the marker Xn+1 relative to the terminal device, and the 6DOF (degree of freedom, degree of freedom) information of the terminal device is obtained in real time through VIO (Visual-Inertial Odometry, Visual Inertial Odometry). , the 6DOF information can include the rotation, orientation and other information of the terminal device, so that the attitude change information of the terminal device when the n+1th image is collected relative to the nth time when the image is collected can be obtained. When the image is relative to the attitude change information of the nth image acquisition, the position of Xn relative to the terminal device, and the position of Xn+1 relative to the terminal device, the spatial positional relationship between the marker Xn and the marker Xn+1 can be obtained. By performing the above operations on all marker images, the acquisition of the first spatial positional relationship between the multiple markers can be achieved.

在本申请实施例中，应当理解的是，无论以上述何种实施方式获得的多个标记物之间的第一空间位置关系，获得的第一空间位置关系均应当满足所有空间位置关系之间不存在孤岛，即不存在独立的空间位置关系，也即根据多个标记物中的任意一个标记物相对终端设备的空间位置，利用第一空间位置关系即可获得其他标记物中每个标记物相对终端设备的空间位置。In the examples of the present application, it should be understood that, no matter the first spatial positional relationship between the markers obtained in any of the above-mentioned embodiments, the obtained first spatial positional relationship should satisfy all spatial positional relationships between There is no isolated island, that is, there is no independent spatial position relationship, that is, according to the spatial position of any one of the markers relative to the terminal device, each marker in the other markers can be obtained by using the first spatial position relationship. The spatial position relative to the end device.

在得到上述多个标记物之间的第一空间位置关系之后，可以将第一空间位置关系存储于终端设备，以用于终端设备在对虚拟对象进行显示时，对虚拟对象的显示位置进行确定。After obtaining the first spatial positional relationship between the plurality of markers, the first spatial positional relationship may be stored in the terminal device, so that the terminal device can determine the display position of the virtual object when the virtual object is displayed by the terminal device .

步骤S220：采集包含目标标记物的图像，其中，目标标记物为多个标记物中处于终端设备视野范围内的至少一个标记物，多个标记物分离设置在不同的位置。Step S220: Collect an image containing a target marker, wherein the target marker is at least one marker in the field of view of the terminal device among the plurality of markers, and the plurality of markers are separated and arranged at different positions.

在终端设备需要显示虚拟对象时，可以采集至少一个在终端设备的视野范围内的目标标记物的图像，以用于后续确定虚拟对象的显示位置。When the terminal device needs to display a virtual object, an image of at least one target marker within the field of view of the terminal device may be collected for subsequent determination of the display position of the virtual object.

可以理解的是，当多个标记物中仅有一个标记物处于终端设备的视野范围内时，则将该标记物作为目标标记物，终端设备可以采集该标记物的图像，得到包含目标标记物的图像。当多个标记物中有两个及以上的标记物处于终端设备的视野范围内时，则可以选取上述两个及以上的标记物中的其中一个标记物作为目标标记物，进行图像采集，得到包含目标标记物的图像。It can be understood that when only one marker in the multiple markers is within the field of view of the terminal device, the marker is used as the target marker, and the terminal device can collect the image of the marker to obtain the target marker. Image. When two or more markers in the multiple markers are within the field of view of the terminal device, one of the two or more markers can be selected as the target marker, and image acquisition is performed to obtain Contains the image of the target marker.

步骤S230：根据图像获取目标标记物相对终端设备的目标空间位置。Step S230: Acquire the target spatial position of the target marker relative to the terminal device according to the image.

在获得包含目标标记物的图像之后，可以根据包含目标标记物的图像获取目标标记物相对终端设备的目标空间位置。After the image containing the target marker is obtained, the target spatial position of the target marker relative to the terminal device can be obtained according to the image containing the target marker.

步骤S240：读取存储的多个标记物之间的第一空间位置关系，并获取虚拟对象相对多个标记物的第二空间位置关系。Step S240: Read the stored first spatial positional relationship between the plurality of markers, and acquire the second spatial positional relationship of the virtual object relative to the plurality of markers.

在本申请实施例中，上述虚拟对象相对多个标记物的第二空间位置关系包括以下中的至少一种：虚拟对象与多个标记物构成的空间区域的空间位置关系；虚拟对象与多个标记物构成的区域的中心位置的空间位置关系；虚拟对象与多个标记物中的预设标记物的空间位置关系；虚拟对象与目标标记物的空间位置关系。In the embodiment of the present application, the second spatial positional relationship between the virtual object and the plurality of markers includes at least one of the following: a spatial positional relationship between the virtual object and a spatial region formed by the plurality of markers; the virtual object and the plurality of markers The spatial positional relationship between the center position of the area formed by the markers; the spatial positional relationship between the virtual object and the preset markers in the plurality of markers; the spatial positional relationship between the virtual object and the target marker.

可以理解的是，根据虚拟对象相对多个标记物的第二空间位置关系，可以获得虚拟对象的位置与多个标记物的位置之间的空间位置关系。虚拟对象可以与多个标记物所构成的空间区域存在空间位置关系，即虚拟对象的位置与多个标记物所构成的空间区域相关，可以是处于多个标记物所构成的空间区域中的一块区域，也可以是与多个标记物所构成的空间区域重合，还可以覆盖于多个标记物所构成的空间区域等。例如，当虚拟对象与多个标记物所构成的空间区域重合，且虚拟对象为虚拟棋盘时，可以将虚拟棋盘叠加显示于多个标记物所构成的区域。It can be understood that, according to the second spatial positional relationship of the virtual object relative to the plurality of markers, the spatial positional relationship between the position of the virtual object and the positions of the plurality of markers can be obtained. The virtual object can have a spatial positional relationship with the spatial region composed of multiple markers, that is, the position of the virtual object is related to the spatial region composed of multiple markers, and can be a piece in the spatial region composed of multiple markers. The area may overlap with a spatial area formed by a plurality of markers, or may cover a spatial area formed by a plurality of markers, or the like. For example, when the virtual object overlaps with the spatial area formed by the multiple markers, and the virtual object is a virtual chessboard, the virtual chessboard can be superimposed and displayed on the area formed by the multiple markers.

虚拟对象也可以与多个标记物构成的区域的中心位置存在空间位置关系，即虚拟对象可以重合于多个标记物构成的区域的中心位置，也可以是虚拟对象处于与该中心位置对应的指定位置。例如，当虚拟对象重合于多个标记物构成的区域的中心位置，虚拟对象为餐桌上需要在中心位置展示的虚拟装饰物时，则可以将虚拟装饰物于中心位置展示。The virtual object may also have a spatial positional relationship with the center position of the area composed of multiple markers, that is, the virtual object may coincide with the center position of the area composed of multiple markers, or the virtual object may be in a designated position corresponding to the center position. Location. For example, when the virtual object coincides with the center of the area formed by multiple markers, and the virtual object is a virtual decoration on the dining table that needs to be displayed at the center, the virtual decoration can be displayed at the center.

虚拟对象也可以与多个标记物中的预设标记物存在空间位置关系，预设标记物为多个标记物中设定的一个标记物，即虚拟对象可以与预设标记物重合，也可以处于与预设标记物对应的指定位置。虚拟对象也可以与上述目标标记物存在空间位置关系，即虚拟对象可以与目标标记物重合，也可以处于与目标标记物对应的指定位置。The virtual object may also have a spatial positional relationship with a preset marker in the multiple markers, and the preset marker is a marker set in the multiple markers, that is, the virtual object may overlap with the preset marker, or may at the designated position corresponding to the preset marker. The virtual object may also have a spatial positional relationship with the target marker, that is, the virtual object may overlap with the target marker, or may be at a designated position corresponding to the target marker.

其中，上述多个标记物构成的区域指多个标记物所围成的最大区域，并且该构成的区域可以包括上述多个标记物。Wherein, the area formed by the plurality of markers refers to the largest area surrounded by the plurality of markers, and the formed area may include the plurality of markers.

步骤S250：基于第一空间位置关系、第二空间位置关系以及目标空间位置，确定虚拟对象的显示位置。Step S250: Determine the display position of the virtual object based on the first spatial positional relationship, the second spatial positional relationship, and the target spatial position.

当虚拟对象相对多个标记物的第二空间位置关系为虚拟对象与目标标记物的空间位置关系，且虚拟对象处于目标标记物时，则虚拟对象的显示位置，可以直接由目标标记物相对终端设备的目标空间位置确定。也就是说，可以将目标标记物相对终端设备的目标空间位置，进行坐标转换，得到显示空间中的虚拟对象的显示位置。例如，在虚拟对象为桌面上的装饰物时，可以直接将虚拟装饰物显示于终端设备所识别的目标标记物的位置。When the second spatial positional relationship of the virtual object relative to the plurality of markers is the spatial positional relationship between the virtual object and the target marker, and the virtual object is at the target marker, the display position of the virtual object can be directly determined by the target marker relative to the terminal The target spatial position of the device is determined. That is to say, the coordinate transformation of the target marker relative to the target space position of the terminal device can be performed to obtain the display position of the virtual object in the display space. For example, when the virtual object is a decoration on the desktop, the virtual decoration can be directly displayed at the position of the target marker recognized by the terminal device.

当虚拟对象相对多个标记物的第二空间位置关系为虚拟对象与多个标记物中的预设标记物之间的空间位置关系时，请参见图11，步骤S250可以包括：When the second spatial positional relationship of the virtual object relative to the plurality of markers is the spatial positional relationship between the virtual object and the preset markers among the plurality of markers, referring to FIG. 11 , step S250 may include:

步骤S251：基于第一空间位置关系，获取多个标记物构成的区域的中心位置。Step S251: Based on the first spatial positional relationship, obtain the center position of the area formed by the plurality of markers.

在本申请实施例中，可以以靠近多个标记物所构成的区域中心位置的标记物，作为所处的预设标记物。首先，可以基于多个标记物之间的第一空间位置关系，获取多个标记物构成的区域的中心位置，以确定靠近中心位置的预设标记物。In the embodiment of the present application, a marker close to the center of the region formed by the multiple markers may be used as the preset marker. First, the center position of the area formed by the multiple markers can be acquired based on the first spatial positional relationship between the multiple markers, so as to determine a preset marker close to the center position.

步骤S252：基于中心位置，从多个标记物中获取预设标记物，预设标记物相对中心位置的距离小于其他标记物相对中心位置的距离。Step S252: Acquire a preset marker from a plurality of markers based on the center position, and the distance of the preset marker relative to the center position is smaller than the distance of other markers relative to the center position.

在得到多个标记物构成的区域的中心位置之后，则可以计算多个标记物中每个标记物相对中心位置的距离。然后获取相对该中心位置的距离最短的标记物，作为预设标记物，即获得的预设标记物相对中心位置的距离，应当小于多个标记物中除该预设标记物以外的其他标记物的任一标记物相对中心位置的距离。After obtaining the center position of the area formed by the multiple markers, the distance of each marker in the multiple markers relative to the center position can be calculated. Then, the marker with the shortest distance from the center position is obtained as the preset marker, that is, the distance of the obtained preset marker relative to the center position should be smaller than other markers in the multiple markers except the preset marker. The distance of any marker relative to the center position.

步骤S253：根据目标空间位置、第二空间位置关系以及预设标记物相对目标标记物之间的空间位置关系，确定虚拟对象的显示位置。Step S253: Determine the display position of the virtual object according to the target spatial position, the second spatial positional relationship, and the spatial positional relationship between the preset marker and the target marker.

在获得相对中心位置最近的上述预设标记物之后，则可以根据多个标记物之间的第一空间位置关系，得到预设标记物与目标标记物之间的空间位置关系。根据第二空间位置关系，即虚拟对象与预设标记物之间的空间位置关系，预设标记物与目标标记物之间的空间位置关系，可以得到虚拟对象与目标标记物之间的空间位置关系。根据虚拟对象与目标标记物之间的空间位置关系，以及目标标记物相对终端设备的目标空间位置，以目标标记物作为参照，得到虚拟对象相对终端设备的空间位置，然后进行坐标转换，得到虚拟对象在显示空间中的显示位置。After the above-mentioned preset marker with the closest relative center position is obtained, the spatial positional relationship between the preset marker and the target marker can be obtained according to the first spatial positional relationship between the plurality of markers. According to the second spatial positional relationship, that is, the spatial positional relationship between the virtual object and the preset marker, and the spatial positional relationship between the preset marker and the target marker, the spatial position between the virtual object and the target marker can be obtained. relation. According to the spatial position relationship between the virtual object and the target marker, and the target spatial position of the target marker relative to the terminal device, the target marker is used as a reference to obtain the spatial position of the virtual object relative to the terminal device, and then coordinate transformation is performed to obtain the virtual object. The display position of the object in display space.

步骤S260：根据显示位置对虚拟对象进行显示。Step S260: Display the virtual object according to the display position.

在得到虚拟对象的显示位置之后，则可以对虚拟对象进行显示。具体的，终端设备可以基于虚拟对象的数据将虚拟对象显示于该显示位置。其中，虚拟对象的数据可以为虚拟对象的模型数据。After the display position of the virtual object is obtained, the virtual object can be displayed. Specifically, the terminal device may display the virtual object at the display position based on the data of the virtual object. The data of the virtual object may be model data of the virtual object.

从而，通过识别多个标记物中在终端设备的视野范围内的其中一个标记物，即可在多个标记物所构成的区域显示虚拟对象，也可以在多个标记物所构成的区域的中心位置显示虚拟对象，还可以在多个标记物中的预设标记物的位置显示虚拟对象，还可以直接在目标标记物的位置显示虚拟对象。Therefore, by identifying one of the markers that is within the field of view of the terminal device, the virtual object can be displayed in the area formed by the plurality of markers, or the center of the area formed by the plurality of markers can be displayed. The virtual object is displayed at the position, and the virtual object can also be displayed at the position of the preset marker among the plurality of markers, and the virtual object can also be directly displayed at the position of the target marker.

在本申请实施例中，在一种应用场景下，虚拟对象可以为多个虚拟对象，虚拟对象相对多个标记物的第二空间位置关系，为多个虚拟对象与多个标记物一一对应且重合。因此，在获得虚拟对象的显示位置时，可以根据目标标记物相对终端设备的目标空间位置，得到所有标记物相对终端设备的空间位置，然后将每个标记物相对终端设备的空间位置，进行坐标转换，即可得到每个虚拟对象的显示位置。In the embodiment of the present application, in an application scenario, the virtual objects may be multiple virtual objects, and the second spatial positional relationship of the virtual objects relative to the multiple markers is a one-to-one correspondence between the multiple virtual objects and the multiple markers and coincide. Therefore, when obtaining the display position of the virtual object, it is possible to obtain the spatial position of all markers relative to the terminal device according to the target spatial position of the target marker relative to the terminal device, and then coordinate the spatial position of each marker relative to the terminal device to coordinate Convert, you can get the display position of each virtual object.

例如，在显示方法应用于餐厅的餐桌上时，多个标记物可以作为菜品的放置位置，每个标记物可以与一种类型的虚拟菜品对应，终端设备可以识别在视野范围内的其中一个标记物，然后根据该标记物的空间位置，即可将所有虚拟菜品在对应的标记物上进行显示。可以实现用户在点餐时，将点的多个菜品与多个标记物进行结合，终端设备仅需识别其中一个标记物，即可将多个菜品显示于标记物上，方便用户的点餐。For example, when the display method is applied to a dining table in a restaurant, multiple markers can be used as the placement positions of dishes, each marker can correspond to a type of virtual dish, and the terminal device can identify one of the markers within the field of view Then, according to the spatial position of the marker, all virtual dishes can be displayed on the corresponding marker. When ordering, the user can combine multiple dishes with multiple markers, and the terminal device only needs to recognize one marker, and then multiple dishes can be displayed on the marker, which is convenient for the user to order.

步骤S270：基于位置更新指令，重新获取多个标记物之间的第一空间位置关系，并将重新获取的第一空间位置关系进行存储。Step S270: Based on the position update instruction, re-acquire the first spatial positional relationship between the plurality of markers, and store the re-acquired first spatial positional relationship.

在本申请实施例中，在上述多个标记物之间的第一空间位置关系发生变化，例如标记物被人为的移动时，则可以对多个标记物之间的第一空间位置关系进行更新。具体可以根据用户的操作，得到位置更新指令。然后重新获取多个标记物之间的第一空间位置关系，并将重新获取的第一空间位置关系进行存储。In the embodiment of the present application, when the first spatial positional relationship between the above-mentioned multiple markers changes, for example, when the markers are moved artificially, the first spatial positional relationship between the multiple markers can be updated. . Specifically, the location update instruction may be obtained according to the user's operation. Then, the first spatial positional relationship between the plurality of markers is re-acquired, and the re-acquired first spatial positional relationship is stored.

在本申请实施例中，请参见图12，上述重新获取多个标记物之间的第一空间位置关系，并将重新获取的第一空间位置关系进行存储，可以包括：In the embodiment of the present application, referring to FIG. 12 , the above-mentioned re-acquisition of the first spatial positional relationship between the multiple markers, and the storage of the re-acquired first spatial positional relationship, may include:

步骤S271：获取对位置变动的标记物与其他标记物中至少一个标记物进行图像采集而得到的部分标记物图像，其中，其他标记物为多个标记物中除位置变动的标记物以外的标记物。Step S271: Acquire a partial marker image obtained by image acquisition of at least one marker in the marker whose position has changed and other markers, wherein the other markers are markers other than the marker whose position has changed among the plurality of markers thing.

可以理解的是，在标记物的位置发生变动时，由于变动的可能仅是少数标记物，因此可以仅确定发生位置变化的标记物相对其他标记物的位置关系，即可实现对第一空间位置关系的更新。It can be understood that when the position of the marker changes, since only a few markers may change, the positional relationship of the marker whose position has changed relative to other markers can be determined, and the first spatial position can be determined. Relationship update.

因此，终端设备可以在用户操作下，对采集位置变动的标记物与其他标记物中的至少一个标记物进行图像采集，得到部分标记物图像，以确定位置变动的标记物相对位置未变动的标记物之间的空间位置关系。Therefore, under the operation of the user, the terminal device can perform image acquisition on the marker whose collection position has changed and at least one marker in other markers, and obtain a partial image of the marker, so as to determine the marker whose position has changed relative to the marker whose position has not changed. The spatial relationship between objects.

步骤S272：基于部分标记物图像以及此前多个标记物之间的第一空间位置关系，得到当前多个标记物之间的第一空间位置关系。Step S272: Based on the partial marker image and the first spatial positional relationship between the multiple markers before, obtain the first spatial positional relationship among the current multiple markers.

在得到上述的部分标记物图像之后，则可以对部分标记物图像进行识别，得到上述位置变动的标记物相对终端设备的空间位置，以及上述其他标记物中至少一个标记物的空间位置。然后根据上述位置变动的标记物相对终端设备的空间位置，以及上述其他标记物中至少一个标记物的空间位置，即可得到位置变动的标记物与其他标记物中至少一个标记物的空间位置关系。再根据该空间位置关系，以及此前多个标记物之间的第一空间位置关系，由于上述其他标记物中至少一个标记物为位置未变动的标记物，因此以其他标记物中至少一个标记物作为参照，即可得到当前多个标记物之间的第一空间位置关系。在得到当前的第一空间位置关系之后，可以将第一空间位置关系存储于终端设备。After the partial marker image is obtained, the partial marker image can be identified to obtain the spatial position of the marker whose position changes relative to the terminal device and the spatial position of at least one marker among the other markers. Then, according to the spatial position of the marker whose position has changed relative to the terminal device, and the spatial position of at least one marker among the other markers, the spatial positional relationship between the marker whose position has changed and at least one marker among the other markers can be obtained. . Then according to the spatial positional relationship and the first spatial positional relationship between the multiple markers, since at least one of the above-mentioned other markers is a marker whose position has not changed, at least one of the other markers is used as the marker. As a reference, the first spatial positional relationship between the current multiple markers can be obtained. After obtaining the current first spatial position relationship, the first spatial position relationship may be stored in the terminal device.

当然，在本申请实施例中，终端设备也可以分多次对多个标记物进行图像采集，以检测标记物的位置是否发生变化，在检测到标记物的位置发生变化时，重新获取多个标记物之间的第一空间位置关系。Of course, in this embodiment of the present application, the terminal device may also collect images of multiple markers in multiple times to detect whether the positions of the markers have changed, and when detecting that the positions of the markers have changed, re-acquire multiple markers. A first spatial positional relationship between markers.

另外，上述重新获取多个标记物之间的第一空间位置关系，也可以参照本申请实施例中步骤S210的方法进行获取。In addition, the above-mentioned re-acquisition of the first spatial positional relationship between the multiple markers may also be acquired by referring to the method of step S210 in the embodiment of the present application.

本申请实施例提供的显示方法，预先获取多个标记物之间的空间位置关系，并提供了多种获取多个标记物之间的空间位置关系的实施方式，然后通过识别多个标记物中在终端设备的视野范围内的其中一个标记物后，根据识别结果、虚拟对象相对多个标记物的空间位置关系以及上述多个标记物之间的空间位置关系，获得虚拟对象的显示位置，最后根据显示位置对虚拟对象进行显示。实现了将虚拟对象于多个标记物构成的区域进行显示，或者将虚拟对象于多个标记物构成的区域的中心位置进行显示，或者将虚拟对象于多个标记物中的预设标记物进行显示，或者将虚拟对象于目标标记物进行显示。The display method provided in this embodiment of the present application acquires the spatial positional relationship between multiple markers in advance, and provides various implementations for obtaining the spatial positional relationship between multiple markers, and then identifies the After one of the markers is located within the field of view of the terminal device, the display position of the virtual object is obtained according to the recognition result, the spatial positional relationship of the virtual object relative to the multiple markers, and the spatial positional relationship between the multiple markers. The virtual object is displayed according to the display position. It is realized that the virtual object is displayed in the area composed of multiple markers, or the virtual object is displayed in the center of the area composed of multiple markers, or the virtual object is displayed on the preset markers in the multiple markers. display, or display the virtual object on the target marker.

请参阅图13，其示出了本申请实施例提供的一种显示装置400的结构框图，该显示装置400应用于终端设备。该显示装置400可以包括：图像获取模块410、第一位置获取模块420、位置关系读取模块430、第二位置获取模块440以及显示执行模块450。其中，图像获取模块410用于采集包含目标标记物的图像，其中，目标标记物为多个标记物中处于终端设备视野范围内的其中一个标记物，多个标记物分离设置在不同的位置；第一位置获取模块420用于根据图像获取目标标记物相对终端设备的目标空间位置；位置关系读取模块430用于读取存储的多个标记物之间的第一空间位置关系，并获取虚拟对象相对多个标记物的第二空间位置关系；第二位置获取模块440用于基于第一空间位置关系、第二空间位置关系以及目标空间位置，确定虚拟对象的显示位置；显示执行模块450用于根据显示位置将虚拟对象进显示。Please refer to FIG. 13 , which shows a structural block diagram of adisplay apparatus 400 provided by an embodiment of the present application, where thedisplay apparatus 400 is applied to a terminal device. Thedisplay apparatus 400 may include: an image acquisition module 410 , a first position acquisition module 420 , a position relationship reading module 430 , a secondposition acquisition module 440 , and a display execution module 450 . Wherein, the image acquisition module 410 is configured to collect an image containing a target marker, wherein the target marker is one of the multiple markers within the field of view of the terminal device, and the multiple markers are separately arranged at different positions; The first position obtaining module 420 is used to obtain the target spatial position of the target marker relative to the terminal device according to the image; the positional relationship reading module 430 is used to read the stored first spatial positional relationship between the multiple markers, and obtain the virtual The second spatial positional relationship of the object relative to the plurality of markers; the secondposition acquisition module 440 is used to determine the display position of the virtual object based on the first spatial positional relationship, the second spatial positional relationship and the target spatial position; the display execution module 450 uses It is used to display virtual objects according to the display position.

在本申请实施例中，上述虚拟对象相对多个标记物的第二空间位置关系包括以下中的至少一种：虚拟对象相对多个标记物的第二空间位置关系包括以下中的至少一种：虚拟对象处于多个标记物构成的区域；虚拟对象处于多个标记物构成的区域的中心位置；虚拟对象处于多个标记物中的预设标记物；虚拟对象处于目标标记物。In the embodiment of the present application, the second spatial positional relationship of the virtual object with respect to the plurality of markers includes at least one of the following: the second spatial positional relationship of the virtual object with respect to the plurality of markers includes at least one of the following: The virtual object is located in an area formed by multiple markers; the virtual object is located at the center of the area formed by multiple markers; the virtual object is located at a preset marker among the multiple markers; the virtual object is located at a target marker.

在本申请实施例中，当虚拟对象相对多个标记物的第二空间位置关系为虚拟对象与多个标记物中的预设标记物重叠时，请参阅图14，第二位置获取模块440可以包括：中心位置获取单元441、预设标记物获取单元442以及位置确定单元443。其中，中心位置获取单元441可以用于基于第一空间位置关系，获取多个标记物构成的区域的中心位置；预设标记物获取单元442可以用于基于中心位置，从多个标记物中获取预设标记物，预设标记物相对中心位置的距离小于其他标记物相对中心位置的距离；位置确定单元443可以用于根据预设标记物相对目标标记物之间的空间位置关系和目标空间位置，确定虚拟对象的显示位置。In the embodiment of the present application, when the second spatial positional relationship of the virtual object relative to the plurality of markers is that the virtual object overlaps with the preset markers among the plurality of markers, please refer to FIG. 14 , the secondposition obtaining module 440 may It includes: a center position acquisition unit 441 , a preset marker acquisition unit 442 and a position determination unit 443 . Wherein, the center position obtaining unit 441 can be used to obtain the center position of the area composed of multiple markers based on the first spatial position relationship; the preset marker obtaining unit 442 can be used to obtain the center position from multiple markers based on the center position Preset markers, the distance from the preset marker relative to the center position is smaller than the distance from other markers relative to the center position; the position determination unit 443 can be used to determine the spatial position relationship between the preset marker relative to the target marker and the target spatial position to determine the display position of the virtual object.

在本申请实施例中，请参阅图15，该显示装置400还可以包括位置关系获取模块460。位置关系获取模块用于获取多个标记物之间的第一空间位置关系。In this embodiment of the present application, referring to FIG. 15 , thedisplay device 400 may further include a position relationship acquiring module 460 . The positional relationship acquisition module is used to acquire the first spatial positional relationship between the plurality of markers.

作为一种实施方式，位置关系获取模块460可以具体用于：对分离设置在不同位置的多个标记物进行图像采集，得到包含多个标记物的图像；基于包含多个标记物的图像，获得多个标记物之间的第一空间位置关系。As an embodiment, the positional relationship acquisition module 460 may be specifically configured to: perform image acquisition on multiple markers separated and set at different positions to obtain an image containing multiple markers; based on the image containing multiple markers, obtain A first spatial positional relationship between the plurality of markers.

作为另一种实施方式，位置关系获取模块460可以具体用于：对分离设置在不同位置的多个标记物中的第一部分标记物进行图像采集，得到包含第一部分标记物的标记物图像，第一部分标记物包括至少两个标记物；基于包含第一部分标记物的标记物图像，获取第一部分标记物之间的空间位置关系；对多个标记物中的第二部分标记物进行图像采集，得到包含第二部分标记物的标记物图像，第二部分标记物包括第一部分标记物中的至少一个标记物、以及多个标记物中除第一部分标记物以外的其他标记物；基于包含第二部分标记物的标记物图像，获取第二部分标记物之间的空间位置关系；根据第一部分标记物之间的位置空间关系以及第二部分标记物之间的空间位置关系，得到多个标记物之间的第一空间位置关系。As another implementation manner, the position relationship acquisition module 460 may be specifically configured to: perform image acquisition on the first part of the markers among the plurality of markers separated and set at different positions, to obtain a marker image including the first part of the markers, and the first part of the markers is obtained. A part of the markers includes at least two markers; based on the image of the markers including the first part of the markers, the spatial positional relationship between the first part of the markers is obtained; the image acquisition is performed on the second part of the markers in the plurality of markers to obtain An image of markers comprising a second portion of markers, the second portion of markers comprising at least one marker of the first portion of markers, and other markers of the plurality of markers other than the first portion of markers; based on the inclusion of the second portion The marker images of the markers are used to obtain the spatial positional relationship between the second part of the markers; The first spatial positional relationship between them.

作为又一种实施方式，位置关系获取模块460可以具体用于：获取对分离设置在不同位置的多个标记物进行多次图像采集而得到的多张图像，其中，每张图像至少包含两个标记物，相邻两次图像采集的图像中包含至少一个相同标记物；基于多次图像采集的多张图像，获得每张图像中的标记物之间的位置关系；基于每张图像中的标记物之间的位置关系，得到多个标记物之间的第一空间位置关系。As another implementation manner, the positional relationship acquisition module 460 may be specifically configured to: acquire multiple images obtained by performing multiple image acquisitions on multiple markers separated and set at different positions, wherein each image contains at least two Markers, at least one identical marker is included in the images of two adjacent image acquisitions; based on multiple images collected multiple times, the positional relationship between the markers in each image is obtained; based on the markers in each image The positional relationship between the objects is obtained, and the first spatial positional relationship between the multiple markers is obtained.

在本申请实施例中，请参阅图15，该显示装置还可以包括关系重获取模块470。关系重获取模块可以用于基于位置更新指令，重新获取多个标记物之间的第一空间位置关系，并将重新获取的第一空间位置关系进行存储。In this embodiment of the present application, referring to FIG. 15 , the display device may further include a relationship re-acquisition module 470 . The relationship re-acquisition module may be configured to re-acquire the first spatial positional relationship between the plurality of markers based on the position update instruction, and store the re-acquired first spatial positional relationship.

进一步的，关系重获取模块可以具体用于：获取对位置变动的标记物与其他标记物中至少一个标记物进行图像采集而得到的部分标记物图像，其中，其他标记物为多个标记物中除位置变动的标记物以外的标记物；基于部分标记物图像以及此前多个标记物之间的第一空间位置关系，得到当前多个标记物之间的第一空间位置关系，并将第一空间位置关系进行存储。Further, the relationship re-acquisition module may be specifically used for: acquiring a partial marker image obtained by image acquisition of a marker whose position has changed and at least one marker among other markers, wherein the other markers are among the multiple markers. Markers other than markers whose positions have changed; based on part of the marker image and the first spatial positional relationship between the previous multiple markers, obtain the first spatial positional relationship between the current multiple markers, and convert the first spatial positional relationship between the multiple markers. The spatial position relationship is stored.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述装置和模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, for the specific working process of the above-described devices and modules, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

在本申请所提供的几个实施例中，模块相互之间的耦合可以是电性，机械或其它形式的耦合。In several embodiments provided in this application, the coupling between the modules may be electrical, mechanical or other forms of coupling.

另外，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically alone, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules.

请参考图16，其示出了本申请实施例提供的一种终端设备的结构框图。该终端设备100可以是智能手机、平板电脑、电子书等能够运行应用程序的终端设备。本申请中的终端设备100可以包括一个或多个如下部件：处理器110、存储器120、图像采集装置130以及一个或多个应用程序，其中一个或多个应用程序可以被存储在存储器120中并被配置为由一个或多个处理器110执行，一个或多个程序配置用于执行如前述方法实施例所描述的方法。Please refer to FIG. 16 , which shows a structural block diagram of a terminal device provided by an embodiment of the present application. Theterminal device 100 may be a terminal device capable of running an application program, such as a smart phone, a tablet computer, an electronic book, or the like. Theterminal device 100 in this application may include one or more of the following components: aprocessor 110, amemory 120, an image capture device 130, and one or more application programs, wherein one or more application programs may be stored in thememory 120 and Configured to be executed by one ormore processors 110, the one or more programs are configured to perform the method as described in the foregoing method embodiments.

处理器110可以包括一个或者多个处理核。处理器110利用各种接口和线路连接整个终端设备100内的各个部分，通过运行或执行存储在存储器120内的指令、程序、代码集或指令集，以及调用存储在存储器120内的数据，执行终端设备100的各种功能和处理数据。可选地，处理器110可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable LogicArray，PLA)中的至少一种硬件形式来实现。处理器110可集成中央处理器(CentralProcessing Unit，CPU)、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作系统、用户界面和应用程序等；GPU用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器110中，单独通过一块通信芯片进行实现。Theprocessor 110 may include one or more processing cores. Theprocessor 110 uses various interfaces and lines to connect various parts of the entireterminal device 100, and executes by running or executing the instructions, programs, code sets or instruction sets stored in thememory 120, and calling the data stored in thememory 120. Various functions of theterminal device 100 and processing data. Optionally, theprocessor 110 may employ at least one of a digital signal processing (Digital Signal Processing, DSP), a Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and a Programmable Logic Array (Programmable Logic Array, PLA). implemented in hardware. Theprocessor 110 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used for rendering and drawing of the display content; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may also not be integrated into theprocessor 110, and is implemented by a communication chip alone.

存储器120可以包括随机存储器(Random Access Memory，RAM)，也可以包括只读存储器(Read-Only Memory)。存储器120可用于存储指令、程序、代码、代码集或指令集。存储器120可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作系统的指令、用于实现至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现下述各个方法实施例的指令等。存储数据区还可以存储终端100在使用中所创建的数据等。Thememory 120 may include random access memory (Random Access Memory, RAM), or may include read-only memory (Read-Only Memory).Memory 120 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. Thememory 120 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.) , instructions for implementing the following method embodiments, and the like. The storage data area may also store data and the like created by the terminal 100 in use.

在本申请实施例中，图像采集装置130用于采集标记物的图像。图像采集装置130可以为红外摄像头，也可以是彩色摄像头，具体的摄像头类型在本申请实施例中并不作为限定。In this embodiment of the present application, the image acquisition device 130 is used to acquire images of markers. The image acquisition device 130 may be an infrared camera or a color camera, and the specific camera type is not limited in this embodiment of the present application.

请参考图17，其示出了本申请实施例提供的一种计算机可读存储介质的结构框图。该计算机可读介质800中存储有程序代码，程序代码可被处理器调用执行上述方法实施例中所描述的方法。Please refer to FIG. 17 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. The computer-readable medium 800 stores program codes, and the program codes can be invoked by the processor to execute the methods described in the above method embodiments.

计算机可读存储介质800可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。可选地，计算机可读存储介质800包括非易失性计算机可读介质(non-transitory computer-readable storage medium)。计算机可读存储介质800具有执行上述方法中的任何方法步骤的程序代码810的存储空间。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。程序代码810可以例如以适当形式进行压缩。The computer readable storage medium 800 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 800 includes a non-transitory computer-readable storage medium. Computer readable storage medium 800 has storage space forprogram code 810 to perform any of the method steps in the above-described methods. These program codes can be read from or written to one or more computer program products.Program code 810 may be compressed, for example, in a suitable form.

最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不驱使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not drive the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (8)

1. A display method is applied to a terminal device, and comprises the following steps:

acquiring an image containing a target marker, wherein the target marker is at least one marker in a plurality of markers within the visual field range of the terminal equipment, and the plurality of markers are separately arranged at different positions;

acquiring a target space position of the target marker relative to the terminal equipment according to the image;

reading a stored first spatial position relationship between the plurality of markers, and acquiring a second spatial position relationship of the virtual object relative to the plurality of markers, wherein the second spatial position relationship is a spatial position relationship between the virtual object and a preset marker in the plurality of markers;

acquiring the central position of an area formed by the plurality of markers based on the first spatial position relation;

acquiring a preset marker from the plurality of markers based on the central position, wherein the distance between the preset marker and the central position is smaller than the distances between other markers and the central position;

determining the display position of the virtual object according to the target space position, the second space position relation and the space position relation between the preset marker and the target marker;

and displaying the virtual object according to the display position.

2. The method of claim 1, wherein prior to said acquiring an image containing a target marker, the method further comprises:

acquiring images of a plurality of markers which are separately arranged to obtain an image containing the markers;

obtaining a first spatial positional relationship between the plurality of markers based on the image including the plurality of markers.

3. The method of claim 1, wherein prior to said acquiring an image containing a target marker, the method further comprises:

acquiring a plurality of images obtained by carrying out a plurality of times of image acquisition on a plurality of markers which are separately arranged, wherein each image at least comprises two markers, and the images acquired by two adjacent images comprise at least one same marker;

obtaining a positional relationship between markers in each image based on a plurality of images of the plurality of image acquisitions;

obtaining a first spatial position relationship among the plurality of markers based on the position relationship among the markers in each image.

4. The method according to any one of claims 1-3, further comprising:

based on the position updating instruction, the first spatial position relation among the plurality of markers is obtained again, and the obtained first spatial position relation is stored.

5. The method according to claim 4, wherein said re-acquiring the first spatial positional relationship between the plurality of markers and storing the re-acquired first spatial positional relationship comprises:

acquiring a partial marker image obtained by image acquisition of at least one of a marker with a position change and other markers, wherein the other markers are markers except for the marker with the position change in the plurality of markers;

and obtaining a first spatial position relation among the plurality of current markers based on the partial marker images and the first spatial position relation among the plurality of previous markers, and storing the first spatial position relation.

6. A display device is applied to a terminal device, and the device comprises: the system comprises an image acquisition module, a first position acquisition module, a position relation reading module, a second position acquisition module and a display execution module, wherein the second position acquisition module comprises a central position acquisition unit, a preset marker acquisition unit and a position determination unit,

the image acquisition module is used for acquiring an image containing a target marker, wherein the target marker is at least one marker in a plurality of markers within the visual field range of the terminal equipment, and the markers are separately arranged at different positions;

the first position acquisition module is used for acquiring a target space position of the target marker relative to the terminal equipment according to the image;

the position relation reading module is used for reading a stored first space position relation among the plurality of markers and acquiring a second space position relation of the virtual object relative to the plurality of markers, wherein the second space position relation is a space position relation of the virtual object and a preset marker in the plurality of markers;

the central position acquisition unit is used for acquiring the central position of an area formed by the plurality of markers based on the first spatial position relation;

the preset marker acquisition unit is used for acquiring a preset marker from the plurality of markers based on the central position, and the distance between the preset marker and the central position is smaller than the distance between other markers and the central position; (ii) a

The position determining unit is used for determining the display position of the virtual object according to the target space position, the second space position relation and the space position relation between the preset marker and the target marker;

the display execution module is used for displaying the virtual object according to the display position.

7. A terminal device, comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-5.

8. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 5.

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