CN104360729B - Many exchange methods and device based on Kinect and Unity3D - Google Patents

Many exchange methods and device based on Kinect and Unity3D Download PDF

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CN104360729B
CN104360729B CN201410381549.XA CN201410381549A CN104360729B CN 104360729 B CN104360729 B CN 104360729B CN 201410381549 A CN201410381549 A CN 201410381549A CN 104360729 B CN104360729 B CN 104360729B
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kinect
unity3d
model
coordinate systems
coordinate
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CN104360729A (en
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王虓
郭新宇
吴升
温维亮
王传宇
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Beijing Research Center for Information Technology in Agriculture
Beijing Research Center of Intelligent Equipment for Agriculture
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Beijing Research Center for Information Technology in Agriculture
Beijing Research Center of Intelligent Equipment for Agriculture
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures

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Abstract

The present invention relates to a kind of many exchange methods based on Kinect and Unity3D, including：S1：Adjust camera parameters in Unity3D consistent with Kinect valid analysing ranges；S2：User coordinates and ground equation are determined using Kinect；S3：Virtual analog coordinate is determined according to relative position, and registers dummy model；S4：Design interaction posture and voice；S5：Determine Unity3D Controlling model displacement animations and Multimedia；S6：The picture got to the video camera in Unity3D is merged and shown with the image that Kinect camera is obtained.The present invention positions the triggering mode of increase dummy model three-dimensional registration using Kinect to the support of speech recognition and to human skeleton, more interactive modes are provided the user by the identification function of limb action, improve the usage experience of user, automatic business processing is carried out to model pose using Unity3D d engine, step needed for three-dimensional registration is greatly simplified.The invention also discloses a kind of many interactive devices based on Kinect and Unity3D.

Description

Many exchange methods and device based on Kinect and Unity3D
Technical field
The present invention relates to computer augmented reality field, more particularly to it is a kind of based on many of Kinect and Unity3D Exchange method and device.
Background technology
Augmented reality (Augmented Reality) is proposed with last century the nineties earliest, now extensive Applied to medical treatment, education is industrial, many aspects such as business.Augmented reality one is more general to be defined in 1997 by north card The Ronald Azuma of Luo Laina universities are proposed, including three main aspects：Virtually (Combines real are combined with reality And virtual), immediate interactive (Interactive in real time), three-dimensional registration (Registered in 3D).Should Virtual scene is superimposed upon on reality scene by technology on screen, and allows participant and virtual scene interactive.Increase at present The implementation process of strong reality is generally：1) scene image is obtained by image acquiring device；2) recognize and track in scene and demarcate Image or word, calculate its deformation calculation its displacement rotating matrix；3) according to the position of uncalibrated image and spin matrix, in three-dimensional Correspondence dummy model positional information is registered in space；4) fusion dummy model and real scene, and it is included on screen.
But, there is following a few point defects in current common technology：1) interactive mode unification, can only by uncalibrated image or Word triggering dummy model registration, and the operations such as translation rotation can only be carried out after registration to model, model can only follow demarcation thing Motion, interactive mode is few and limits more；2) three-dimensional registration algorithm is cumbersome, it is necessary to determine model position according to characteristic point coordinate system Put and posture, then convert it to camera coordinate system, finally merge dummy model and reality scene and according to indicator screen Coordinate pair its shown.It can be seen that current art needs the calculating compared with multi-step, operation in the three-dimensional registration phase of dummy model Not succinct enough and automation.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, how voice to be known using Kinect Other support and the triggering mode that increase dummy model three-dimensional registration is positioned to human skeleton, pass through the identification function of limb action More interactive modes are provided the user, improve the usage experience of user, and how to utilize Unity3D d engine to mould Type pose carries out automatic business processing, the key issue of step needed for greatly simplifying three-dimensional registration.
For this purpose, the present invention proposes a kind of many exchange methods based on Kinect and Unity3D, including：
S1：Adjust camera parameters in Unity3D consistent with Kinect valid analysing ranges；
S2：User coordinates and ground equation are determined using Kinect；
S3：Virtual analog coordinate is determined according to relative position, and registers dummy model；
S4：Design interaction posture and voice；
S5：Determine Unity3D Controlling model displacement animations and Multimedia；
S6：The image that the picture got to the video camera in Unity3D is obtained with Kinect camera is merged And show.
Further, the step S1 further comprises：Kinect is placed to the predeterminated position of reality scene, adjustment reality Scene is in Kinect valid analysing ranges.
Further, the step S1 further comprises：Adjust Unity3D in video camera Field of view and Clipping Planes parameters.
Further, the step S2 further comprises：
S21：Determine to represent the plane equation on ground using SkeletonFrame.FloorClipPlane functions, wherein, The plane equation under the Kinect coordinate systems is：Ax+By+Cz+D=0, (A, B, C) is the flat of the plane equation Face normal vector, the plane equation under the Unity3D coordinate systems is：Y+E=0, (0,1,0) is the plane equation Plane normal vector；
S22：(A, B, C) rotation to (0,1,0) is overlapped, Kinect coordinate systems are completed registering with Unity3D coordinate systems.
Further, the Kinect coordinate systems further comprise with the registering of Unity3D coordinate systems：Kinect coordinate systems Lower arbitrfary point (k1, k2, k3) to Unity3D coordinate systems change when, need to around the X-axis anglec of rotation be-arctan (B/C), revolve about the z axis Gyration is arctan (A/B), and radius of turn isRotation recoil is designated as：(k1cosα-(k2cosβ-k3sinβ) Sin α, k1sinα+(k2cosβ-k3Sin β) cos α, k2sinβ+k3Cos β), wherein, α=arctan (A/B), β=- arctan (B/C)。
Further, the step S6 further comprises：
S61：Two images are sampled or difference operation；
S62：Two images after operation are traveled through, compare in two images with purpose image slices vegetarian refreshments corresponding points Depth value；
S63：Purpose image corresponding points color value is set to color value of the depth value compared with statuette vegetarian refreshments.
Further, the registration dummy model can also be moved to the side that specific position triggers default models by user Formula.
Further, the registration dummy model can also be by way of user's speech trigger correspondence model registration.
For this purpose, the present invention proposes a kind of many interactive devices based on Kinect and Unity3D, including：
Adjusting module, it is consistent with Kinect valid analysing ranges for adjusting camera parameters in Unity3D；
Coordinate and ground equation module are determined, for determining user coordinates and ground equation using Kinect；
Dummy model Registering modules, for determining virtual analog coordinate according to relative position, and register dummy model；
Module is designed, for designing interactive posture and voice；
Effects module is determined, for determining Unity3D Controlling model displacement animations and Multimedia；
Image co-registration module, picture and Kinect camera for being got to the video camera in Unity3D are obtained Image merged and shown.
A kind of many exchange methods based on Kinect and Unity3D disclosed in this invention, first by setting Unity3D The position of middle video camera and attribute, simplify the conversion between real scene coordinate system and virtual scene coordinate system；Secondly by Kinect obtains respective coordinates of the user in Unity, and represents the plane equation on ground, then can be according to void to be registered Analog model and the relative position relation of ground and user determine three-dimensional registration coordinate, and the mechanism that it triggers registration is more flexible, can To be triggered when user is moved to ad-hoc location, sound identification module can also be used to be triggered.Mould is enriched again Interactive mode after type registration, can be interacted by limb action and voice operating model；Finally utilize in Unity3D Transform components and Mecanim animation systems simplify the realization of dummy model change in displacement and animation effect.The present invention is also Disclose a kind of many interactive devices based on Kinect and Unity3D.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is schematical without that should manage Solve to carry out any limitation to the present invention, in the accompanying drawings：
The step of Fig. 1 shows a kind of many exchange methods of in the embodiment of the present invention based on Kinect and Unity3D is flowed Cheng Tu；
Fig. 2 shows a kind of structure chart of many interactive devices based on Kinect and Unity3D in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention is described in detail.
As shown in figure 1, the invention provides a kind of many exchange methods based on Kinect and Unity3D, including specifically with Lower step：
Step S1：Adjust camera parameters in Unity3D consistent with Kinect valid analysing ranges.Specifically, place Kinect adjusts reality scene and is in Kinect valid analysing ranges to the predeterminated position of reality scene, wherein, effective range It is 1.2-3.6 meters of span camera, 57 degree of level, vertical 43 degree.
Further, in the coordinate system of Kinect returned datas, origin is Kinect sensor, therefore will Video camera is positioned over the origin of coordinates in Unity3D, and dummy model coordinate is calculated during three-dimensional register to facilitate.Adjust in Unity3D Video camera Field of view and Clipping Planes parameters, by Field of view, Clipping Planes etc. Parameter and Kinect effective range be arranged to numerical value.
Step S2：User coordinates and ground equation are determined using Kinect.
Specifically, determine to represent the plane equation on ground using SkeletonFrame.FloorClipPlane functions, its In, the plane equation under Kinect coordinate systems is：Ax+By+Cz+D=0, (A, B, C) is the plane normal vector of plane equation, Plane equation under Unity3D coordinate systems is：Y+E=0, (0,1,0) is the plane normal vector of plane equation；By (A, B, C) Rotation to (0,1,0) is overlapped, and completes Kinect coordinate systems registering with Unity3D coordinate systems.
Further, Kinect coordinate systems further comprise with the registering of Unity3D coordinate systems：Lower of Kinect coordinate systems Anticipate point (k1, k2, k3) to Unity3D coordinate systems change when, need to be-arctan (B/C), the about the z axis anglec of rotation around the X-axis anglec of rotation Spend for arctan (A/B), radius of turn isRotation recoil is designated as：(k1cosα-(k2cosβ-k3sinβ)sin α, k1sinα+(k2cosβ-k3Sin β) cos α, k2sinβ+k3Cos β), wherein, α=arctan (A/B), β=- arctan (B/ C)。
Step S3：Virtual analog coordinate is determined according to relative position, and registers dummy model.
Specifically, the conversion formula changed according to the Kinect coordinate systems of above-mentioned steps to Unity3D coordinate systems, will The bone site point Skeleton Point that API is returned in Kinect SDK are changed to Unity3D coordinate systems.Sat in Unity3D According to ground level under mark system, the relative position of user coordinates and dummy model and user is by model orientation to required coordinate；Or Person's selection default models are registered, or are registered to the sound bank addition word related to model, wherein, some words One model of correspondence, is recognized by Kinect Speech modular voices.After user says word present in sound bank, Model threedimensional model corresponding with the word is registered in scene.
Step S4：Design interaction posture and voice.
Specifically, interaction posture is designed, the limb action set of every kind of operation is determined.For example：Hovered and represented using arm Select object or click on button；Mobile arm represents sliding mouse or translation model；Two hands are remote, close expression zoom model； Two hands embrace ball rotation and represent rotating model etc., and realize simple interaction by voice.For example：It has been shown that, the disappearance, multimedia of model Broadcasting, pause etc..
Step S5：Determine Unity3D Controlling model displacement animations and Multimedia.
Specifically, corresponding operating is carried out to model according to the limb action of user.Using in Unity3D SDK Transform components in GameObject objects are translated to model, rotation, the operation such as scaling；Use Mecanim animations System control model is made to user and followed, and runs, the designed interactive action such as guiding；Use Audio components and Movie Textures components control Multimedia.
Step S6：The image that the picture and Kinect camera got to the video camera in Unity3D is obtained is carried out Merge and show.
Specifically, step S6 further comprises：
Step S61：Two images are sampled or difference operation, are allowed to zoom to purpose image size.
Step S62：Two images after operation are traveled through, compare corresponding with purpose image slices vegetarian refreshments in two images The depth value of point；
Step S63：Purpose image corresponding points color value is set to color value of the depth value compared with statuette vegetarian refreshments.
A kind of many exchange methods based on Kinect and Unity3D disclosed by the invention, are that three-dimensional registration is simple to operate Augmented reality.Increase dummy model three-dimensional registration is positioned to the support of speech recognition and to human skeleton using Kinect Triggering mode, more interactive modes are provided the user by the identification function of limb action, improve the usage experience of user； Automatic business processing is carried out to model pose using Unity3D d engine, step needed for three-dimensional registration is greatly simplify.It is i.e. comprehensive Close and utilize body feeling interaction equipment and three-dimensional game engine, simplify three-dimensional register flow path, add three-dimensional registration triggering mode, it is rich Rich user mutual approach, perfect user's operating experience.
As shown in Fig. 2 the invention provides a kind of many interactive devices 10 based on Kinect and Unity3D, including：Adjustment Module 101, determine coordinate and ground equation module 102, dummy model Registering modules 103, design module 104, determine effect mould Block 105 and image co-registration module 106.
Specifically, adjusting module 101 is used to adjust camera parameters and Kinect valid analysing ranges one in Unity3D Cause；Determine that coordinate and ground equation module 102 are used to determine user coordinates and ground equation using Kinect；Dummy model is noted Volume module 103 is used to determine virtual analog coordinate according to relative position, and registers dummy model；Design module 104 is used to design Interaction posture and voice；Determine that effects module 105 is used to determine Unity3D Controlling model displacement animations and Multimedia； Image co-registration module 106 is used for the image that the picture and Kinect got to the video camera in Unity3D camera is obtained Merged and shown.
A kind of many exchange methods based on Kinect and Unity3D disclosed in this invention, first by setting Unity3D The position of middle video camera and attribute, simplify the conversion between real scene coordinate system and virtual scene coordinate system；Secondly by Kinect obtains respective coordinates of the user in Unity, and represents the plane equation on ground, then can be according to void to be registered Analog model and the relative position relation of ground and user determine three-dimensional registration coordinate, and the mechanism that it triggers registration is more flexible, can To be triggered when user is moved to ad-hoc location, sound identification module can also be used to be triggered.Mould is enriched again Interactive mode after type registration, can be interacted by limb action and voice operating model；Finally utilize in Unity3D Transform components and Mecanim animation systems simplify the realization of dummy model change in displacement and animation effect.The present invention is also Disclose a kind of many interactive devices based on Kinect and Unity3D.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field Technical staff, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all Equivalent technical scheme falls within scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims Within limited range.

Claims (9)

1. a kind of many exchange methods based on Kinect and Unity3D, it is characterised in that including specific following steps：
S1：Adjust camera parameters in Unity3D consistent with Kinect valid analysing ranges；
S2：User coordinates and ground equation are determined using Kinect；
S3：Virtual analog coordinate is determined according to relative position, and registers dummy model；
S4：Design interaction posture and voice；
S5：Determine Unity3D Controlling model displacement animations and Multimedia；
S6：The picture got to the video camera in Unity3D is merged and shown with the image that Kinect camera is obtained Show.
2. the method as described in claim 1, it is characterised in that the step S1 further comprises：Kinect is placed to reality The predeterminated position of scene, adjustment reality scene is in Kinect valid analysing ranges.
3. the method as described in claim 1, it is characterised in that the step S1 further comprises：Adjust in Unity3D and image Machine Field of view and Clipping Planes parameters.
4. the method as described in claim 1, it is characterised in that the step S2 further comprises：
S21：Determine to represent the plane equation on ground, i.e., described ground using SkeletonFrame.FloorClipPlane functions Equation, wherein, the plane equation under the Kinect coordinate systems is：Ax+By+Cz+D=0, (A, B, C) is described flat The plane normal vector of face equation, the plane equation under the Unity3D coordinate systems is：Y+E=0, (0,1,0) is described The plane normal vector of plane equation；
S22：(A, B, C) rotation to (0,1,0) is overlapped, Kinect coordinate systems are completed registering with Unity3D coordinate systems.
5. method as claimed in claim 4, it is characterised in that the Kinect coordinate systems are registering with Unity3D coordinate systems Further comprise：Arbitrfary point (k under Kinect coordinate systems1, k2, k3) to Unity3D coordinate systems change when, need to be around the X-axis anglec of rotation For-arctan (B/C), the anglec of rotation is arctan (A/B) about the z axis, and radius of turn isCoordinate after rotation For：(k1cosα-(k2cosβ-k3Sin β) sin α,
k1sinα+(k2cosβ-k3Sin β) cos α,
k2sinβ+k3Cos β), wherein, α=arctan (A/B), β=- arctan (B/C).
6. the method as described in claim 1, it is characterised in that the step S6 further comprises：
S61：Two images are sampled or difference operation；
S62：Two images after operation are traveled through, compare the depth with purpose image slices vegetarian refreshments corresponding points in two images Value；
S63：Purpose image corresponding points color value is set to color value of the depth value compared with statuette vegetarian refreshments.
7. the method as described in claim 1, it is characterised in that the registration dummy model can also be moved to spy by user The mode of different location triggered default models.
8. the method as described in claim 1, it is characterised in that the registration dummy model can also pass through user's speech trigger The mode of correspondence model registration.
9. a kind of many interactive devices based on Kinect and Unity3D, it is characterised in that including：
Adjusting module, it is consistent with Kinect valid analysing ranges for adjusting camera parameters in Unity3D；
Coordinate and ground equation module are determined, for determining user coordinates and ground equation using Kinect；
Dummy model Registering modules, for determining virtual analog coordinate according to relative position, and register dummy model；
Module is designed, for designing interactive posture and voice；
Effects module is determined, for determining Unity3D Controlling model displacement animations and Multimedia；
Image co-registration module, the figure that picture and Kinect camera for being got to the video camera in Unity3D are obtained As being merged and being shown.
CN201410381549.XA 2014-08-05 2014-08-05 Many exchange methods and device based on Kinect and Unity3D Active CN104360729B (en)

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CN107551551B (en) * 2017-08-09 2021-03-26 Oppo广东移动通信有限公司 Game effect construction method and device
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