CN107590823B - Method and device for capturing three-dimensional form - Google Patents
Method and device for capturing three-dimensional form Download PDFInfo
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- CN107590823B CN107590823B CN201710704233.3A CN201710704233A CN107590823B CN 107590823 B CN107590823 B CN 107590823B CN 201710704233 A CN201710704233 A CN 201710704233A CN 107590823 B CN107590823 B CN 107590823B
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Abstract
The embodiment of the invention discloses a method and a device for capturing three-dimensional forms, wherein the method comprises the following steps: capturing the motion trail of the target object by a capturing device; the capturing device determines a stretching position for the planar motion trajectory; the capture device captures a stretching motion track of the target object at the stretching position; and the capturing device sends the plane motion track and the stretching motion track to terminal equipment, and the terminal equipment is used for obtaining the three-dimensional form of the target object according to the stretching motion track and the stretching motion track. According to the method and the device for capturing the three-dimensional form, provided by the embodiment of the invention, the target object can have the 3D three-dimensional form by executing the plane motion and the stretching motion through the target object, and then the plane motion track and the stretching motion track are captured respectively to obtain the three-dimensional form of the target object so as to realize 3D input, so that the limitation of capturing the three-dimensional form through a camera is overcome.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a method and a device for capturing a three-dimensional form.
Background
The three-dimensional shape capturing technology is used for measuring the motion state of a moving object in a three-dimensional space, and the motion state of the moving object is recorded in a digital form through related equipment, and then a computer is used for processing motion data to obtain the space coordinates of the moving object. With the development of science and technology, the three-dimensional shape capturing technology has been widely applied in the fields of animation, movies, motion teaching and the like.
The current three-dimensional shape capturing technology mainly adopts a camera capturing mode. The method comprises the steps of collecting pictures of the three-dimensional form of an object through a camera placed in front of the moving object, and comparing the pictures at different moments so as to determine the three-dimensional form of the object. However, in the camera capturing mode, the moving object needs to be located within the shooting range of the camera all the time, and if the moving object goes out of the shooting range or is blocked, it is difficult to capture a correct three-dimensional form, which causes the camera capturing mode to have certain limitations.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a method and an apparatus for capturing a three-dimensional shape, so as to solve the above problems.
To solve the above technical problem, an embodiment of the present invention provides a method for capturing a three-dimensional shape, including:
capturing a planar motion track of a target object;
determining a stretching position located in the plane motion trajectory, wherein the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
capturing a stretching motion track of the target object starting from the stretching position;
and obtaining the three-dimensional form of the target object according to the plane motion track and the stretching motion track.
To solve the above technical problem, an embodiment of the present invention provides another method for capturing a three-dimensional shape, including:
capturing a planar motion track of a target object;
determining a stretching position located in the plane motion trajectory, wherein the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
capturing a stretching motion track of the target object starting from the stretching position;
and sending the plane motion trail and the stretching motion trail to a terminal device so as to obtain the three-dimensional form of the target object through the terminal device based on the plane motion trail and the stretching motion trail.
To solve the above technical problem, an embodiment of the present invention provides a three-dimensional form capturing device, including:
the plane track capturing module is used for capturing a plane motion track of the target object;
the position determining module is used for determining a stretching position in the plane motion trail, and the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
the stretching track capturing module is used for capturing a stretching motion track of the target object starting from the stretching position;
and the track processing module is used for obtaining the three-dimensional form of the target object according to the plane motion track and the stretching motion track.
To solve the above technical problem, an embodiment of the present invention provides another three-dimensional form capturing device, including:
the plane track capturing module is used for capturing a plane motion track of the target object;
the position determining module is used for determining a stretching position in the plane motion trail, and the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
the stretching track capturing module is used for capturing a stretching motion track of the target object starting from the stretching position;
and the track sending module is used for sending the plane motion track and the stretching motion track to terminal equipment so as to obtain the three-dimensional form of the target object through the terminal equipment based on the plane motion track and the stretching motion track.
As can be seen from the above technical solutions provided by the embodiments of the present invention, the method and the apparatus for capturing a three-dimensional form provided by the embodiments of the present invention perform a planar motion and a stretching motion on a target object, so that the target object can have a 3D three-dimensional form, and further a planar motion trajectory and a stretching motion trajectory are captured respectively to obtain the three-dimensional form of the target object to implement 3D input, thereby overcoming the limitation of capturing a three-dimensional form by a camera.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a system to which a three-dimensional shape capturing method is applied according to an exemplary embodiment of the invention.
FIG. 2 is a flowchart illustrating a method for capturing three-dimensional shapes according to an exemplary embodiment of the invention.
Fig. 3 is a flowchart illustrating a method for capturing a planar motion trajectory of a target object according to an exemplary embodiment of the invention.
Fig. 4 is a specific flowchart for capturing the stretching motion trajectory of the target object at the stretching position in the three-dimensional shape capturing method according to an exemplary embodiment of the invention.
FIG. 5 is a flowchart of a method for capturing three-dimensional shapes according to another exemplary embodiment of the invention.
FIG. 6 is a flowchart of a method for capturing three-dimensional shapes according to another exemplary embodiment of the invention.
FIG. 7 is a flowchart illustrating a method for capturing three-dimensional shapes according to still another exemplary embodiment of the invention.
FIG. 8 is a block diagram of a three-dimensional shape capture device in an exemplary embodiment of the invention.
FIG. 9 is a block diagram of a three-dimensional form capture device in another exemplary embodiment of the invention.
FIG. 10 is a block diagram of a three-dimensional form capture device in accordance with yet another exemplary embodiment of the invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a system to which a three-dimensional shape capturing method is applied according to an exemplary embodiment of the invention. Referring to fig. 1, the system includes a target object 100, a three-dimensional form capturing apparatus 200, and a terminal device 300. Target object 100 may be a user's wrist or other part of the body; the capturing device 200 may be a wearable device such as a bracelet, a watch, etc., and the capturing device 200 is mounted on the target object 100 to acquire a three-dimensional form of the target object 100; the terminal device 300 may be of a type such as a smart phone, a tablet, a PC device, etc., and the terminal device 300 may establish a connection with the capturing apparatus 200 through a wireless communication protocol such as bluetooth, 3G, 4G, etc., or a wired communication protocol such as a USB wire.
In practical applications, when the user drives the target object 100 to move, the capturing device 200 may acquire the three-dimensional form of the target object 100, and then transmit the three-dimensional form to the terminal device 300 through a channel established between the terminal device 300 and the capturing device, and the terminal device 300 further executes a corresponding processing scheme or projects the three-dimensional form into a preset scene model according to the three-dimensional form of the target object 100.
The preset scene model may be a game model, a movie model, an image design model, or the like. The target object may be associated with some props in some scene models, and the position relationship between the target object and the props is changed through a three-dimensional form, which is not described herein.
FIG. 2 is a flowchart illustrating a method for capturing three-dimensional shapes according to an exemplary embodiment of the invention. The main body of the capturing method is the capturing device 200, and the method specifically includes the following steps 401 to 404.
In step 401, a planar motion trajectory of a target object is captured.
Still taking the target object 100 as the wrist of the user and the capturing device 200 as the bracelet as an example, the user directly drives the wrist to do a planar motion after wearing the capturing device 200 on the wrist, where the planar motion means that the wrist is approximately on a plane in the motion process, for example, the user can drive the wrist to draw a circle or a square in front of the body with the shoulder as the center, and at this time, the wrist of the user is basically on a plane, and the wrist also has a planar motion track. As the user's wrist moves, the capturing apparatus 200 follows the movement, and a planar movement trace of the target object can be captured by the capturing apparatus 200.
As shown in fig. 3, in this embodiment, step 401 specifically includes the following steps 411 to 112.
In step 411, the planar motion velocity of the target object is acquired.
When the capturing device 200 follows the user's wrist to perform planar motion, the acceleration, the angular velocity and the geomagnetic orientation during the movement of the user's wrist can be obtained by a nine-axis sensor or an accelerometer or other elements built in the capturing device 200.
After the acceleration, the angular velocity and the geomagnetic azimuth of the wrist are obtained, the initial velocity of the wrist is generally zero, the velocity of the wrist in the planar motion can be determined according to the acceleration, and the direction of the wrist in the planar motion is determined by combining the angular velocity, so as to obtain the initial planar motion velocity. Preferably, the planar motion velocity can be corrected to be more accurate using the amount of magnetic azimuth. Of course, in practical applications, there may be a plurality of mature algorithms to obtain the planar motion speed based on the above parameters, which is a technique known to those skilled in the art and will not be described herein.
In step 412, the obtained planar motion velocity is integrated, and the integrated result is used as the planar motion trajectory of the target object.
The plane movement speed can reflect the movement states of the wrist of the user at different moments in a certain two-dimensional plane, and the plane movement track of the target object can be determined by integrating the plane movement speed in time.
In step 402, a stretching position located in the planar motion profile is determined.
Continuing the above example, target object 100 is a user's wrist, and capture device 200 is a bracelet. After the plane motion track of the wrist of the user is defined, a stretching position is determined according to the plane motion track, the stretching position can be at least one of a stretching position point, a stretching position line and a stretching position surface, the stretching position point can be located on the plane motion track or in the range of the plane motion track, and the number of the stretching position points can be one or more; the stretching position surface can be a square surface, and the stretching position line can be a straight line segment or an arc line segment.
In the embodiment of the present invention, the stretching position is determined in the planar motion trajectory by the user performing a preset action through the target object 100. The preset action can be the action that the user's wrist returns back and goes forward repeatedly for a plurality of times, or the action that the user bends and straightens the wrist repeatedly for a plurality of times, or the action that the user's wrist rotates a certain angle, different types of stretching positions, the preset action also correspond to the adjustment, only need to guarantee that the two correspond uniquely.
When the target object performs the preset action to determine the stretching position, the target object needs to be within the plane motion track, for example, the plane motion track is a circular track, and the target object can be placed at any position within the plane motion track to determine the stretching position based on the position. Certainly, in practical application, both the planar motion track and the position of the target object may be projected onto the display device, and a user may accurately position the position of the target object in the planar motion track through the display device, so as to accurately determine the stretching position.
In other embodiments of the present invention, the stretching position point may also be set on the terminal device 300 by the user, and after the planar motion track is transmitted to the terminal device 300, the user may determine the stretching position in the planar motion track through a mouse click operation or a finger touch operation.
In step 403, a stretching motion trajectory of the target object starting from the stretching position is captured.
The stretching motion track and the plane motion track are motion tracks with different dimensions. For example, the planar motion profile may be a motion profile lying in an X-Y plane (with the X and Y axes being perpendicular to each other), and the stretching motion profile may be an adjustment profile for the planar motion profile in a Z-axis (with the Z-axis being perpendicular to a plane defined by the X and Y axes).
Still taking the target object 100 as the wrist of the user, the capturing device 200 as the bracelet, and the stretching position as the stretching position point as an example, after the user wears the capturing device 200 on the wrist and completes the planar motion, the stretching motion is directly performed with the stretching position point as the starting point, and a stretching motion track is formed. The stretching motion can deform the planar motion trajectory towards the crossing direction, so that the planar motion trajectory becomes more stereoscopic. As the wrist of the user moves, the capturing apparatus 200 follows the movement, and the stretching movement locus of the target object can be obtained by the capturing apparatus 200.
As shown in fig. 4, in this embodiment, step 403 specifically includes the following steps 431 to 432.
In step 431, the stretching movement speed of the target object is acquired.
When the capturing device 200 follows the stretching movement of the user's wrist, the acceleration, the angular velocity and the geomagnetic orientation during the movement of the user's wrist can be obtained by a nine-axis sensor or an accelerometer or other elements built in the capturing device 200.
After the acceleration, the angular velocity and the geomagnetic azimuth of the wrist are obtained, generally, the velocity of the wrist is basically zero when the wrist starts to stretch, the velocity of the wrist during stretching movement can be determined according to the acceleration, the direction of the wrist during stretching movement is determined by combining the angular velocity, so that the initial stretching movement velocity is obtained, and finally, the stretching movement velocity can be corrected by using the geomagnetic azimuth, so that the stretching movement velocity is more accurate. Of course, in practical applications, there may be a plurality of mature algorithms to obtain the stretching movement speed based on the above parameters, which is a technique known to those skilled in the art and will not be described herein.
In step 432, the obtained stretching movement velocity is integrated, and the integrated result is used as the stretching movement locus of the target object.
The stretching movement speed can reflect the movement states of the wrist of the user at different moments in a certain two-dimensional plane, and the stretching movement track of the target object can be determined by integrating the stretching movement speed in time.
In step 404, the planar motion trajectory and the stretching motion trajectory are sent to a terminal device.
After receiving the planar motion trajectory and the stretching motion trajectory, the terminal device 300 fits the stretching motion trajectory and the planar motion trajectory through a common stretching position, so as to obtain a 3D three-dimensional form of the target object. After acquiring the three-dimensional form of the target object, a corresponding processing scheme may be executed according to the three-dimensional form or the three-dimensional form may be projected into a preset scene model.
In practical applications, for example, the planar motion trajectory is a perfect circular trajectory, the stretching position is the whole circular arc of the perfect circular trajectory, the stretching motion trajectory is a linear motion perpendicular to the perfect circular trajectory from the circular arc, and after the linear motion trajectory is fitted to the circular arc of the perfect circular trajectory, the three-dimensional form of the target object can be obtained, and the three-dimensional form at this time is a cylindrical form.
Of course, in other embodiments of the present invention, the three-dimensional shape of the target object may also be obtained by the capturing device based on the plane motion trajectory and the stretching motion trajectory without being processed by the terminal device. Even after the three-dimensional form is obtained by the capturing device, the three-dimensional form can be sent to a device such as a display for displaying, which is not described herein.
To sum up, the method for capturing a three-dimensional form provided by the embodiment of the present invention enables a target object to have a 3D three-dimensional form by performing a plane motion and a stretching motion on the target object, and further captures a plane motion trajectory and a stretching motion trajectory to obtain the three-dimensional form of the target object to implement 3D input, thereby overcoming the limitation of capturing the three-dimensional form by using a camera.
FIG. 5 is a flowchart of a method for capturing three-dimensional shapes according to another exemplary embodiment of the invention. The main execution body of the capturing method is the capturing device 200, and the method specifically includes the following steps 501 to 506.
In step 501, a plane action start command is received.
In step 502, a planar motion trajectory of a target object is captured.
This step 502 can refer to the description of the aforementioned step 401, and will not be described herein.
In step 503, a plane action complete command is received.
Continuing the above example, target object 100 is a user's wrist, and capture device 200 is a bracelet. The plane motion finishing instruction can be input by a user through a preset finishing motion, the preset finishing motion can be a motion of rotating the wrist of the user for one circle, a motion of swinging the wrist of the user up and down and the like, and the preset finishing motion is not too large so as to prevent the finishing motion from damaging the plane motion track.
In the embodiment of the present invention, the planar motion opening command and the planar motion ending command may be generated by triggering a planar button on the capturing device 200. The planar button may be a mechanical button or a capacitive touch button.
In step 504, a stretching position located in the planar motion profile is determined.
In step 505, a stretch action open command is received.
In step 506, a stretching motion trajectory of the target object starting from the stretching position is captured.
The steps 504 and 506 can refer to the description of the aforementioned steps 402 and 403, and will not be described herein.
In step 507, a stretching operation completion instruction is received.
Still continuing the above example, the stretching operation ending instruction may be input by the user through a preset ending action, and the preset action of the stretching operation ending instruction may be the same as or different from the preset action of the plane operation ending instruction. The preset finishing motion of the stretching motion finishing instruction can be a motion of rotating the wrist of the user for one circle, a motion of swinging the wrist of the user up and down and the like, and the preset finishing motion is not too large so as to prevent the finishing motion from damaging the stretching motion track.
In the embodiment of the present invention, the planar motion ending command may also be generated by triggering the stretching ending button on the capturing device 200. The stretching finishing button can be a mechanical button or a capacitive touch button.
In practical applications, the planar finalization button and the stretch finalization button may be the same button or different buttons.
In step 508, the planar motion trajectory and the stretching motion trajectory are sent to the terminal device.
This step 508 may refer to the description of step 404, which is not described herein.
FIG. 6 is a flowchart of a method for capturing three-dimensional shapes according to another exemplary embodiment of the invention. The main body of the capturing method is the capturing device 200, and the method specifically includes the following steps 601 to 606.
In step 601, a planar motion trajectory of a target object is captured.
This step 601 may refer to the description of the aforementioned step 401, and will not be described herein.
In step 602, the captured planar motion trajectory is modified.
Continuing the above example, target object 100 is a user's wrist, and capture device 200 is a bracelet. In the moving process of the user wrist, due to various factors such as external interference or muscle shaking of the user, the plane motion track formed by the user wrist is not continuous enough. In this case, such a planar motion trajectory needs to be corrected. In practical application, the part of the plane motion track which is not continuous enough can be convex or concave, and the convex part and the concave part are corrected, so that the plane motion track can be corrected. In practical application, the planar motion trajectory may be corrected by a conventional image processing technique, which is not described herein again.
Further, a correction selection option may be provided for the user to select whether to perform correction, for example, the captured planar motion trajectory is an elliptical trajectory, which is close to a perfect circular trajectory and may be corrected to a perfect circular trajectory. The user can select whether to correct the trajectory to be a right circular trajectory or not so as to meet the drawing requirement of the user.
In the embodiment of the invention, the captured plane motion track is corrected by utilizing the preset plane motion template. The preset plane motion template is preset according to the conventional motion of the plane motion performed by the user, for example, plane circular motion, plane elliptical motion, plane square motion, etc., and the captured plane motion trajectory is compared with the preset plane motion template to obtain the closest plane motion template, and the plane motion trajectory is corrected according to the plane motion template. For example, after comparison, if the closest planar motion template is determined to be a planar circular motion template, the captured planar motion trajectory is corrected to the circular motion template.
In step 603, a stretching position for the planar motion trajectory is determined.
In step 604, a stretching motion trajectory of the target object starting from the stretching position is captured.
The steps 603 and 604 can refer to the description of the foregoing steps 402 and 403, and will not be described herein.
In step 605, the captured stretching motion trajectory is corrected.
Still continuing the above example, in the moving process of the user's wrist, the stretching movement track formed by the user's wrist is not continuous enough due to various factors such as external interference or user muscle shake. In this case, such a planar motion trajectory needs to be corrected. In practical application, the part with the stretching motion track which is not continuous enough can be convex or concave, and the convex part and the concave part are corrected, so that the plane motion track can be corrected. In practical application, the planar motion trajectory may be corrected by a conventional image processing technique, which is not described herein again.
Further, a correction selection option may be provided for the user to select whether to perform correction, for example, the captured stretching motion track is a cylindrical track, which is not perpendicular to the plane motion track and may be corrected to be perpendicular to the plane motion track. The user can select whether to correct the drawing to be vertical or not so as to meet the drawing requirement of the user.
In the embodiment of the invention, the captured stretching motion track is corrected by utilizing the preset stretching motion template. The preset stretching motion template is preset according to a conventional motion of a user performing a planar motion, for example, the preset stretching motion template may be a columnar stretching motion, a point stretching motion, or the like, and the captured stretching motion trajectory is compared with the preset stretching motion template to obtain a closest stretching motion template, and the stretching motion trajectory is corrected according to the stretching motion template. For example, after the comparison, if the nearest stretching motion template is determined to be a columnar stretching motion template, the captured stretching motion trajectory is corrected to the columnar stretching motion template.
Of course, in other embodiments of the present invention, only one of steps 605 and 602 may be retained.
In step 606, the planar motion trajectory and the stretching motion trajectory are sent to a terminal device.
This step 606 may refer to the description content of the foregoing step 404, and send the corrected trajectory to the terminal device, which is not described herein.
FIG. 7 is a flowchart illustrating a method for capturing three-dimensional shapes according to still another exemplary embodiment of the invention. The main body of the capturing method is the capturing device 200, and the method specifically includes the following steps 701 to 708.
In step 701, a plane action start command is received.
In step 702, a planar motion trajectory of a target object is captured.
Step 701 may refer to step 501, and step 702 may refer to the description of step 401, which is not described herein.
In step 703, a plane action complete command is received.
This step 703 can refer to the description of the aforementioned step 503, and will not be described herein.
In step 704, the captured planar motion trajectory is modified.
This step 704 may refer to the description of the previous step 602, which is not described herein.
In step 705, a stretching position for the planar motion trajectory is determined.
This step 705 may refer to the description of the aforementioned step 402, which is not described herein.
In step 706, a stretch action open command is received.
In step 707, a stretching motion trajectory of the target object at the stretching position is captured.
This step 707 may refer to the description of the aforementioned step 403, and will not be described herein.
In step 708, a stretch end command is received.
This step 708 may refer to the description of step 505, which is not described herein.
In step 709, the captured stretching motion trajectory is corrected.
This step 709 can refer to the description of the aforementioned step 605, and will not be described herein.
In step 710, the planar motion trajectory and the stretching motion trajectory are sent to a terminal device.
This step 710 may refer to the description of step 404, which is not described herein.
FIG. 8 is a block diagram of a three-dimensional shape capture device in an exemplary embodiment of the invention. The capturing apparatus 200 is based on the aforementioned capturing method, and the details can be described with reference to the aforementioned method. The catching device 200 includes the following elements.
A plane trajectory capturing module 201, configured to capture a plane motion trajectory of a target object and capture a plane motion trajectory of the target object;
a position confirmation module 202, configured to determine a stretching position for the planar motion trajectory, where the stretching position includes at least one of a stretching position point, a stretching position plane, and a stretching position line;
a stretching track capturing module 203, configured to capture a stretching motion track of the target object at the stretching position;
and the track sending module 204 is configured to send the plane motion track and the stretching motion track to a terminal device, and the terminal device is configured to obtain a three-dimensional form of the target object according to the stretching motion track and the stretching motion track.
In an exemplary embodiment of the invention, the planar trajectory capturing module 201 is specifically configured to:
acquiring the plane movement speed of a target object;
and performing integration processing on the acquired plane motion speed, and taking an integration result as a plane motion track of the target object.
In an exemplary embodiment of the invention, the planar trajectory capturing module 201 is specifically configured to:
acquiring an acceleration measurement, an angular velocity vector and a geomagnetic azimuth of a target object;
and obtaining the plane movement speed of the target object according to the acceleration measurement, the angular velocity vector and the geomagnetic azimuth quantity.
In an exemplary embodiment of the invention, the position confirmation module 202 is specifically configured to:
and determining a stretching position in the plane motion trail by executing a preset action through the target object.
In an exemplary embodiment of the invention, the stretching track capturing module 203 is specifically configured to:
acquiring the stretching movement speed of a target object;
and integrating the obtained stretching movement speed, and taking an integration result as a stretching movement track of the target object.
To sum up, the three-dimensional shape capturing device provided in the embodiment of the present invention enables the target object to have a 3D three-dimensional shape by performing the planar motion and the stretching motion on the target object, and further captures the planar motion trajectory and the stretching motion trajectory to obtain the three-dimensional shape of the target object to implement 3D input, thereby overcoming the limitation of capturing the three-dimensional shape by using a camera.
FIG. 9 is a block diagram of a three-dimensional form capture device in another exemplary embodiment of the invention. The difference compared to the previous embodiment is that the catching device 200 further comprises the following elements.
The capture device 200 further comprises an instruction receiving module 204 for:
before capturing a plane motion track of a target object, receiving a plane motion starting instruction;
after capturing a planar motion trajectory of a target object, a planar motion finalization instruction is received before acquiring a stretching position point for the planar motion trajectory.
In an exemplary embodiment of the invention, the instruction receiving module 204 is further configured to:
receiving a stretching motion starting instruction before capturing a stretching motion track of the target object at the stretching position;
after the stretching motion trail of the target object at the stretching position is captured, a stretching motion finishing instruction is received before the plane motion trail and the stretching motion trail are sent to a terminal device.
In an exemplary embodiment of the present invention, the command receiving module 204 may be embodied as a button, and the button is triggered to generate a plane action starting command and a plane action ending command, or a stretching action starting command and a stretching action ending command, which are transmitted to the command receiving module.
In an exemplary embodiment of the invention, the capturing device further comprises a trajectory modification module 206 for:
after capturing a planar motion trajectory of a target object, before acquiring a stretching position point for the planar motion trajectory, correcting the captured planar motion trajectory.
In an exemplary embodiment of the invention, the trajectory modification module 206 is specifically configured to:
and correcting the captured plane motion trail by using a preset plane motion template.
In an exemplary embodiment of the invention, the trajectory modification module 206 is further configured to:
after the stretching motion trail of the target object at the stretching position is captured, the captured stretching motion trail is corrected before the plane motion trail and the stretching motion trail are sent to the terminal equipment.
In an exemplary embodiment of the invention, the trajectory modification module 206 is specifically configured to:
and correcting the captured plane motion trail by utilizing a preset stretching motion template.
FIG. 10 is a block diagram of a three-dimensional form capture device in accordance with another exemplary embodiment of the present invention. Compared to the previous embodiment, the difference is that the capturing apparatus 200 does not include the trajectory transmission module 207, including:
and the track processing module 207 is configured to obtain a three-dimensional form of the target object according to the stretching motion track and the stretching motion track.
The three-dimensional form of the target object is obtained through the capturing device based on the plane motion trail and the stretching motion trail, and the three-dimensional form does not need to be processed through the terminal equipment. Even after the three-dimensional form is obtained by the capturing device, the three-dimensional form can be sent to a device such as a display for displaying, which is not described herein.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The use of the phrase "including a" does not exclude the presence of other, identical elements in the process, method, article, or apparatus that comprises the same element, whether or not the same element is present in all of the same element.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (26)
1. A method for capturing a three-dimensional form, comprising:
a capturing device captures a planar motion trajectory of a target object based on a built-in non-camera device, the capturing device being mounted to the target object;
determining a stretching position located in the plane motion trajectory, wherein the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
capturing a stretching motion track of the target object starting from the stretching position based on a non-camera device;
obtaining the three-dimensional form of the target object according to the plane motion track and the stretching motion track;
the capturing of the planar motion trajectory of the target object specifically includes:
acquiring the plane movement speed of a target object;
performing integration processing on the acquired plane motion speed, and taking an integration result as a plane motion track of the target object;
the acquiring of the planar motion speed of the target object specifically includes:
acquiring an acceleration measurement, an angular velocity vector and a geomagnetic azimuth of a target object;
and obtaining the plane movement speed of the target object according to the acceleration measurement, the angular velocity vector and the geomagnetic azimuth quantity.
2. A method for capturing a three-dimensional form, comprising:
a capturing device captures a planar motion trajectory of a target object based on a built-in non-camera device, the capturing device being mounted to the target object;
determining a stretching position located in the plane motion trajectory, wherein the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
capturing a stretching motion track of the target object starting from the stretching position based on a non-camera device;
sending the plane motion track and the stretching motion track to a terminal device so as to obtain the three-dimensional form of the target object based on the plane motion track and the stretching motion track through the terminal device;
the capturing of the planar motion trajectory of the target object specifically includes:
acquiring the plane movement speed of a target object;
performing integration processing on the acquired plane motion speed, and taking an integration result as a plane motion track of the target object;
the acquiring of the planar motion speed of the target object specifically includes:
acquiring an acceleration measurement, an angular velocity vector and a geomagnetic azimuth of a target object;
and obtaining the plane movement speed of the target object according to the acceleration measurement, the angular velocity vector and the geomagnetic azimuth quantity.
3. A method according to claim 1 or 2, characterized in that in the method:
before capturing the planar motion trajectory of the target object, the method further comprises:
receiving a plane action starting instruction;
after capturing the planar motion trajectory of the target object, prior to determining the stretch position located in the planar motion trajectory, the method further comprises:
receiving a plane motion finish command.
4. The method of claim 1, wherein after capturing a planar motion trajectory of a target object, and before determining a stretch position located in the planar motion trajectory, the capturing method further comprises:
correcting the captured plane motion trail;
determining a stretching position in the planar motion trajectory, specifically comprising:
determining a stretching position in the corrected plane motion trail;
obtaining the three-dimensional form of the target object according to the plane motion trail and the stretching motion trail, and specifically comprises the following steps:
and obtaining the three-dimensional form of the target object according to the corrected plane motion trail and the stretching motion trail.
5. The method of claim 2, wherein after capturing a planar motion trajectory of a target object, and before determining a stretch position located in the planar motion trajectory, the capturing method further comprises:
correcting the captured plane motion trail;
determining a stretching position in the planar motion trajectory, specifically comprising:
determining a stretching position in the corrected plane motion trail;
and sending the plane motion trail and the stretching motion trail to a terminal device, and specifically comprising the following steps:
and sending the corrected plane motion trail and the corrected stretching motion trail to the terminal equipment.
6. The method of claim 4 or 5, wherein the modifying the captured planar motion trajectory comprises:
and correcting the captured plane motion trail by using a preset plane motion template.
7. The method of claim 1 or 2, wherein determining a stretching position located in the planar motion trajectory comprises:
and determining a stretching position in the plane motion trail by executing a preset action through the target object.
8. The method of claim 1 or 2, wherein capturing a stretching motion trajectory of the target object starting from the stretching position comprises:
acquiring the stretching movement speed of a target object;
and integrating the obtained stretching movement speed, and taking an integration result as a stretching movement track of the target object.
9. A method according to claim 1 or 2, characterized in that in the method:
before capturing a stretching motion trajectory of the target object starting at the stretching position, the method further comprises:
receiving a stretching action starting instruction;
after capturing a stretching motion trajectory of the target object starting at the stretching position, the method further comprises:
receiving a stretching operation finishing instruction.
10. The method of claim 1, wherein after capturing the stretching motion trajectory of the target object starting at the stretching position and before deriving the three-dimensional shape of the target object from the planar motion trajectory and the stretching motion trajectory, the method further comprises:
and correcting the captured stretching motion trail.
11. The method of claim 2, wherein after capturing the stretching motion trajectory of the target object starting at the stretching position and before sending the planar motion trajectory and the stretching motion trajectory to a terminal device, the method further comprises:
and correcting the captured stretching motion trail.
12. The method of claim 10 or 11, wherein modifying the captured stretching motion profile comprises:
and correcting the captured stretching motion trail by using a preset stretching motion template.
13. A three-dimensional form capture device, comprising:
the plane track capturing module is used for capturing a plane motion track of a target object by a capturing device based on a built-in non-camera device, and the capturing device is installed on the target object;
the position determining module is used for determining a stretching position in the plane motion trail, and the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
the stretching track capturing module is used for capturing a stretching motion track starting from the stretching position of the target object based on a non-camera device;
the track processing module is used for obtaining the three-dimensional form of the target object according to the plane motion track and the stretching motion track;
wherein, the plane track capturing module is specifically configured to:
acquiring the plane movement speed of a target object;
performing integration processing on the acquired plane motion speed, and taking an integration result as a plane motion track of the target object;
wherein, the plane track capturing module is specifically configured to:
acquiring an acceleration measurement, an angular velocity vector and a geomagnetic azimuth of a target object;
and obtaining the plane movement speed of the target object according to the acceleration measurement, the angular velocity vector and the geomagnetic azimuth quantity.
14. A three-dimensional form capture device, comprising:
the plane track capturing module is used for capturing a plane motion track of a target object by a capturing device based on a built-in non-camera device, and the capturing device is installed on the target object;
the position determining module is used for determining a stretching position in the plane motion trail, and the stretching position comprises at least one of a stretching position point, a stretching position plane and a stretching position line;
the stretching track capturing module is used for capturing a stretching motion track starting from the stretching position of the target object based on a non-camera device;
the track sending module is used for sending the plane motion track and the stretching motion track to terminal equipment so as to obtain the three-dimensional form of the target object through the terminal equipment based on the plane motion track and the stretching motion track;
wherein, the plane track capturing module is specifically configured to:
acquiring the plane movement speed of a target object;
performing integration processing on the acquired plane motion speed, and taking an integration result as a plane motion track of the target object;
wherein, the plane track capturing module is specifically configured to:
acquiring an acceleration measurement, an angular velocity vector and a geomagnetic azimuth of a target object;
and obtaining the plane movement speed of the target object according to the acceleration measurement, the angular velocity vector and the geomagnetic azimuth quantity.
15. The apparatus of claim 13 or 14, wherein the apparatus further comprises an instruction receiving module to:
before capturing a plane motion track of a target object, receiving a plane motion starting instruction;
after capturing a planar motion trajectory of a target object, a planar motion conclusion instruction is received before determining a stretch position located in the planar motion trajectory.
16. The apparatus of claim 15, wherein the command receiving module is a button.
17. The apparatus of claim 13, further comprising a planar trajectory modification module to:
after a plane motion track of a target object is captured, correcting the captured plane motion track before a stretching position in the plane motion track is determined;
the position determining module is specifically configured to:
determining a stretching position in the corrected plane motion trail;
the trajectory processing module is specifically configured to:
and obtaining the three-dimensional form of the target object according to the corrected plane motion trail and the stretching motion trail.
18. The apparatus of claim 14, further comprising a planar trajectory modification module to:
after a plane motion track of a target object is captured, correcting the captured plane motion track before a stretching position in the plane motion track is determined;
the position determining module is specifically configured to:
determining a stretching position in the corrected plane motion trail;
the track sending module is specifically configured to:
and sending the corrected plane motion trail and the corrected stretching motion trail to the terminal equipment.
19. The apparatus of claim 17 or 18, wherein the planar trajectory modification module is specifically configured to:
and correcting the captured plane motion trail by using a preset plane motion template.
20. The apparatus of claim 13 or 14, wherein the location determination module is specifically configured to:
and determining a stretching position in the plane motion trail by executing a preset action through the target object.
21. The apparatus of claim 13 or 14, wherein the stretch trace capture module is specifically configured to:
acquiring the stretching movement speed of a target object;
and integrating the obtained stretching movement speed, and taking an integration result as a stretching movement track of the target object.
22. The apparatus of claim 13 or 14, wherein the apparatus further comprises an instruction receiving module to:
receiving a stretching motion starting instruction before capturing a stretching motion track of the target object starting from the stretching position;
and after a stretching motion track starting from the stretching position of the target object is captured, a stretching motion ending instruction is received.
23. The apparatus of claim 22, wherein the command receiving module is a button.
24. The apparatus of claim 13, further comprising a stretch track modification module to:
and after the stretching motion track of the target object starting from the stretching position is captured, correcting the captured stretching motion track before the three-dimensional form of the target object is obtained according to the plane motion track and the stretching motion track.
25. The apparatus of claim 14, further comprising a stretch track modification module to:
after the stretching motion trail of the target object starting from the stretching position is captured, the captured stretching motion trail is corrected before the plane motion trail and the stretching motion trail are sent to the terminal equipment.
26. The apparatus according to claim 24 or 25, wherein the stretch track modification module is specifically configured to:
and correcting the captured stretching motion trail by using a preset stretching motion template.
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