CN104361239A - Boxing sandbag training virtualizing method based on Kinect and boxing sandbag training virtualizing system based on Kinect - Google Patents
Boxing sandbag training virtualizing method based on Kinect and boxing sandbag training virtualizing system based on Kinect Download PDFInfo
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- CN104361239A CN104361239A CN201410657261.0A CN201410657261A CN104361239A CN 104361239 A CN104361239 A CN 104361239A CN 201410657261 A CN201410657261 A CN 201410657261A CN 104361239 A CN104361239 A CN 104361239A
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Abstract
The invention relates to a boxing sandbag training virtualizing method based on Kinect and a boxing sandbag training virtualizing system based on Kinect. The method comprises the following specific steps: constructing a virtual scene, loading virtual boxing gloves and a sandbag model; acquiring skeleton position data of left and right hands of an operator by virtue of a Kinect pick-up head; controlling the virtual boxing gloves in the virtual system by virtue of position data and calculating whether the virtual sandbag is hit; calculating the boxing speed of the operator, calculating the sandbag swing amplitude by use of the boxing speed and virtualizing a sandbag hitting process by use of a computer graphic interface. According to the method and the system, common sandbag hitting training in boxing training is virtualized and a new method is provided for training under a condition that a real sandbag can not hung due to environment restriction.
Description
Technical field
The present invention relates to Computer Applied Technology, the method and system of in particular a kind of virtual Boxing sand bag training based on Kinect.
Background technology
In prior art, virtual boxing or fighting games on computers, all use and realize with acceleration transducer, gyrostatic body sense induction installation or handle etc., by respective sensor inductive operation person operation signal, operation information is sent into computer system by wired or wireless mode and is carried out interaction process.Have following defect: the mode the first, adopting handle, operator only need be impacted by handle button operation, cannot reach the object of true shadowbox; Even if second adopts the body sense induction installation with acceleration transducer, gyroscope etc. to carry out simulated training, body sense induction installation has just sensed operator's motion, and can not embody operator's punch attitude, and authenticity is not high.
Application number is " a kind of method and system realizing virtual boxing based on computing machine " of 200910189787.X, the main handle that operator wears Special cap, hand has tracking characteristics and auxiliary-handle, head, hand tracking point position is obtained by binocular camera, the punch attitude of computer simulation operator, to some extent solves the problem of said method.But for the ease of computer recognizing, this system and method needs operator to wear to have the cap of tracking characteristics and major and minor handle, greatly have impact on the experience effect of user.
Summary of the invention
Technical matters to be solved by this invention is: the method and system providing a kind of virtual Boxing sand bag training based on Kinect, its objective is the training process of simulation Boxing sand bag, improve the authenticity of training.
Technical scheme of the present invention is: a kind of method of the virtual Boxing sand bag training based on Kinect, comprises the steps: S1, obtains operator right-hand man's spatial position data, right-hand man's positional information of described right-hand man's spatial position data mirror operation person;
S2, convert operator right-hand man's spatial position data to left and right virtual boxing glove screen coordinate data, utilize the position of the virtual boxing glove of virtual boxing glove screen coordinate Data Control in screen, left and right to move;
S3, judge whether virtual boxing glove hits virtual sandbag according to the virtual boxing glove screen coordinate data of the left and right in S2;
S4, hit virtual sandbag after, calculate virtual sandbag central point initial swing speed and initial swing angle;
S5, according to virtual sandbag central point initial swing speed, initial swing angle and the damped system in S4, play up virtual sandbag swing process by CGI, and show in the display device.
Wherein, step S1 comprises:
S11, from Kinect video flowing, obtain operator's skeletal graph picture frame;
S12, from the bone image frame data of step S11, obtain operator right-hand man coordinate data as right-hand man's spatial position data.
Step S2 comprises:
S21, acquisition screen resolution (x
s, y
s), by the right-hand man's coordinate HL (x in right-hand man's spatial position data
l, y
l, z
l), HR (x
r, y
r, z
r) be converted to left and right virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs);
S22, by virtual boxing glove modeling rendering in left and right virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs) position, the position controlling virtual boxing glove in screen is thus moved.
In step S21, the conversion method of right-hand man's coordinate is:
x
ls＝α*x
ly
ls＝β*y
l
X
rs=α * x
ry
rs=β * y
rwherein, coordinate conversion factor alpha=x
s/ 320, β=y
s/ 240.
Step S3 comprises:
S31, virtual sandbag is equal to rectangular area, and four of this rectangular area of dynamic calculation apex coordinates;
S32, judge the virtual boxing glove screen coordinate in left and right whether on the rectangular area shown in S31 step, if so, then show to hit sandbag, otherwise, show not hit sandbag.
The computing method of four apex coordinates of the rectangular area of step S31 are: suppose that virtual sandbag rectangular area is high, wide and be respectively h, w, the distance between virtual sandbag central point and hitch point is l, and when virtual sandbag central point is static, screen coordinate is (x
0, y
0), when being θ relative to axis deviation angle, the coordinate of rectangular area top left corner apex A is:
the coordinate of summit, upper right corner B is:
the coordinate of summit, lower right corner C is:
the coordinate of summit, lower left corner D is:
Step S4 comprises:
S41, calculate virtual sandbag central point initial swing speed V
0;
S42, calculate virtual sandbag central point initial swing angle φ.
Wherein, virtual sandbag central point initial swing speed V in step S41
0computing method be:
S411, calculating operation person left hand or right hand punch speed V
1;
S412, the punch speed V obtained according to step S411
1calculate virtual sandbag central point initial swing speed V
0.
Operator's left hand or right hand punch speed V in step S411
1computing method be: with Kinect camera for three-dimensional system of coordinate initial point, Kinect camera front panel plane place plane is XOY face, the wherein right side of X-axis point operation person, the top of Y-axis point operation person, the front side of Z axis point operation person, supposes that the bone coordinate obtained from the skeletal graph picture frame hitting virtual sandbag is P (X
1, Y
1, Z
1), and get former frame bone coordinate Q (X
2, Y
2, Z
2), so punch vector
for (X
1-X
2, Y
1-Y
2, Z
1-Z
2), punch speed V can be obtained thus
1:
In step S412, operator is with V
1punch speed impact virtual sandbag after, virtual sandbag central point initial swing speed V
0computing formula be:
V
0＝0.025V
1。
In step S42, the computing method of virtual sandbag central point initial swing angle φ are:
φ＝argcos(1-V
0 2/2lg)
Wherein: V
0for virtual sandbag central point initial swing speed, l is the distance between virtual sandbag central point and hitch point, and g is acceleration of gravity, gets 9.8 meter per seconds
2.
When playing up virtual sandbag swing process by graphic interface in step S5, virtual sandbag pendulum angle is often crossed a center line and reduce 25% of initial swing angle φ, namely by this amplitude fading, virtual sandbag stops at center line by being still in impact two cycles of rear swing, waits for and impacting next time.
A kind of system of the virtual Boxing sand bag training based on Kinect comprises Kinect camera, computing machine and display device; Kinect camera is connected with computing machine, and computing machine is connected by video connecting line with display device;
Wherein, Kinect camera for obtaining operator right-hand man's spatial position data, right-hand man's positional information of described right-hand man's spatial position data mirror operation person;
Operator right-hand man's spatial position data is converted to left and right virtual boxing glove screen coordinate data by computing machine, utilize the position of the virtual boxing glove of virtual boxing glove screen coordinate Data Control in screen, left and right to move, then judge whether virtual boxing glove hits virtual sandbag according to left and right virtual boxing glove screen coordinate data; After the virtual sandbag of hit, calculate virtual sandbag central point initial swing speed and initial swing angle, and according to virtual sandbag central point initial swing speed, initial swing angle and damped system, play up virtual sandbag swing process by CGI;
Display device impacts the process of sandbag for showing shadowbox scene, virtual sandbag, virtual boxing glove and operator.
Accompanying drawing explanation
Fig. 1 is system construction drawing of the present invention.
Fig. 2 is method flow diagram of the present invention.
Fig. 3 is that sandbag of the present invention swings schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the system of the virtual Boxing sand bag training based on Kinect of the present invention comprises Kinect camera 1, computing machine 2, display device 3 and connection line 4,5.Kinect camera 1 for obtaining operator right-hand man's spatial position data, right-hand man's positional information of described right-hand man's spatial position data mirror operation person.Operator right-hand man's spatial position data is converted to left and right virtual boxing glove screen coordinate data by computing machine, utilize the position of the virtual boxing glove of virtual boxing glove screen coordinate Data Control in screen, left and right to move, then judge whether virtual boxing glove hits virtual sandbag according to left and right virtual boxing glove screen coordinate data; After the virtual sandbag of hit, calculate virtual sandbag central point initial swing speed and initial swing angle, and according to virtual sandbag central point initial swing speed, initial swing angle and damped system, play up virtual sandbag swing process by CGI; Display device impacts the process of sandbag for showing shadowbox scene, virtual sandbag, virtual boxing glove and operator.
The various Xbox that Kinect camera adopts Microsoft to produce or version of window equipment, computing machine is connected to by special USB cable, display device can be computer monitor, the band Digital Television of HDMI or the giant-screen via projector, and computing machine is connected by video connecting line with display device.Operator 6, in front 1.5 meters to the 2.3 meters distances of Kinect camera, aims at the sandbag in camera impact screen.First computing machine designs and loads virtual boxing glove, virtual sandbag model and shadowbox room background, for Max3D and Direct 3D graphic interface, virtual boxing glove, virtual sandbag model is set up in Max3D software, save as .x file, D3D graphic interface D3DXLoadMeshFromX function is utilized to load .X formatted file, utilize sky sylphon background principle afterwards, build virtual boxing ring background.Afterwards, from the extracting data skeletal frame data that Kinect passes back, and therefrom obtain operator right-hand man locus coordinate, and after being converted into screen coordinate, handle virtual fist impact sandbag, sandbag is according to the corresponding impact of related algorithm.
As shown in Figure 2, based on the method for the virtual Boxing sand bag training of Kinect, specifically comprise the following steps:
S1, acquisition operator right-hand man coordinate.Computing machine, by initialization Kinect device, obtains operator's skeletal frame image, and extracts operator right-hand man volume coordinate HL (x from interface
l, y
l, z
l), HR (x
r, y
r, z
r), coordinate system is with reference to shown in Fig. 1.
S2, control virtual boxing glove change in location.First screen resolution (the x of display device is obtained
s, y
s), by the bone coordinate HL (x in right-hand man's spatial position data
l, y
l, z
l), HR (x
r, y
r, z
r) be converted into virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs).Wherein method for transformation is, coordinate conversion factor alpha=x
s/ 320, β=y
s/ 240, then: x
ls=α * x
l, y
ls=β * y
l, x
rs=α * x
r, y
rs=β * y
r; Afterwards by virtual boxing glove modeling rendering in virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs) position, the position controlling virtual series of skills and tricks in boxing in screen is thus moved.To adopt Direct 3D graphic interface, by composing coordinate figure to D3DPosition in real time, allowing virtual boxing glove follow operator's fist and moving.
The hit of S3, sandbag judges.As shown in Figure 3, being provided with and going all out to do one's duty regardless of personal danger middle region equivalent is rectangle ABCD region, and rectangular top point coordinate computing method, suppose that sandbag rectangular area is high, wide and be respectively h, w, sandbag central point distance hitch point distance is l, and when sandbag central point is static, screen coordinate is (x
0, y
0), when being θ relative to axis deviation angle (being to the right that just a left side is negative), four summit (upper left corner, the upper right corner, the lower right corner, the lower left corner) dynamic coordinates are respectively:
as virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs) when falling into this region, think effectively hit.
S4, calculate virtual sandbag central point initial swing speed V0 and initial swing angle φ.First calculating operation person left and right punch speed V
1with reference to Fig. 1 skeletal frame coordinate system, take camera as three-dimensional system of coordinate initial point, camera front panel plane place plane is XOY plane, the right side of X-axis point operation person, the top of Y-axis point operation person, the front side of Z axis point operation person, supposes to hit the bone coordinate P (X obtained in the skeletal frame of sandbag
1, Y
1, Z
1), then get former frame bone coordinate Q (X
2, Y
2, Z
2), so punch vector
for (X
1-X
2, Y
1-Y
2, Z
1-Z
2).Skeletal frame sampling rate is 25 frames per second, can obtain punch speed thus:
Unit is: meter per second.
As shown in Figure 3, when operator is with punch speed V
1when hitting virtual sandbag, simplify theorem of momentum, suppose that the complete fist speed of impact is 0m/s, fist quality 0.5Kg, sandbag weight 20Kg, then sandbag acquisition initial velocity computing formula is: V
0=0.025V
1.Then and then by principle of conservation of energy, virtual sandbag center maximum deflection angle φ=argcos (1-V can be drawn
0 2/ 2lg), wherein: l is sandbag central point distance hitch point distance, and g is acceleration of gravity, gets 9.8 meter per seconds
2, each variable meaning is with reference to shown in Fig. 3.
S5, to be played up virtual sandbag by image interface and swing effect.Virtual sandbag pendulum angle is often crossed center line reduces initial swing angle φ 25%, namely by the decay of this regular linear, sandbag stops at center line by spending two cycles of swing after being still in impact, waits for and impacting next time.For D3D graphic interface, call D3DXMatrixRotationX (& Rx, θ) interface function and realize sandbag swing.
Above embodiment only in order to the technical scheme of patent of the present invention to be described, is not intended to limit; Although be described in detail patent of the present invention with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of patent of the present invention.
Claims (10)
1., based on a method for the virtual Boxing sand bag training of Kinect, it is characterized in that, comprise the following steps:
S1, acquisition operator right-hand man spatial position data, right-hand man's positional information of described right-hand man's spatial position data mirror operation person;
Described step S1 comprises:
S11, from Kinect video flowing, obtain operator's skeletal graph picture frame;
S12, from the bone image frame data of step S11, obtain operator right-hand man coordinate data as right-hand man's spatial position data.
S2, convert operator right-hand man's spatial position data to left and right virtual boxing glove screen coordinate data, utilize the position of the virtual boxing glove of virtual boxing glove screen coordinate Data Control in screen, left and right to move;
Described step S2 comprises:
S21, acquisition screen resolution (x
s, y
s), by the right-hand man's coordinate HL (x in right-hand man's spatial position data
l, y
l, z
l), HR (x
r, y
r, z
r) be converted to left and right virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs); The conversion method of right-hand man's coordinate is:
x
ls＝α*x
ly
ls＝β*y
l
X
rs=α * x
ry
rs=β * y
rwherein, coordinate conversion factor alpha=x
s/ 320, β=y
s/ 240;
S22, by virtual boxing glove modeling rendering in left and right virtual boxing glove screen coordinate VL (x
ls, y
ls), VR (x
rs, y
rs) position, the position controlling virtual boxing glove in screen is thus moved.
S3, judge whether virtual boxing glove hits virtual sandbag according to the virtual boxing glove screen coordinate data of the left and right in S2;
S4, hit virtual sandbag after, calculate virtual sandbag central point initial swing speed and initial swing angle;
S5, according to virtual sandbag central point initial swing speed, initial swing angle and the damped system in S4, play up virtual sandbag swing process by CGI, and show in the display device.
2. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 1, it is characterized in that, described step S3 comprises:
S31, virtual sandbag is equal to rectangular area, and four of this rectangular area of dynamic calculation apex coordinates;
S32, judge the virtual boxing glove screen coordinate in left and right whether on the rectangular area shown in S31 step, if so, then show to hit sandbag, otherwise, show not hit sandbag.
3. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 2, it is characterized in that, the computing method of four apex coordinates of the rectangular area of described step S31 are: suppose that virtual sandbag rectangular area is high, wide and be respectively h, w, distance between virtual sandbag central point and hitch point is l, and when virtual sandbag central point is static, screen coordinate is (x
0, y
0), when being θ relative to axis deviation angle, the coordinate of rectangular area top left corner apex A is:
The coordinate of summit, upper right corner B is:
The coordinate of summit, lower right corner C is:
The coordinate of summit, lower left corner D is:
4. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 1, it is characterized in that, described step S4 comprises:
S41, calculate virtual sandbag central point initial swing speed V
0;
S42, calculate virtual sandbag central point initial swing angle φ.
5. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 4, is characterized in that, virtual sandbag central point initial swing speed V in described step S41
0computing method be:
S411, calculating operation person left hand or right hand punch speed V
1;
S412, the punch speed V obtained according to step S411
1calculate virtual sandbag central point initial swing speed V
0.
6. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 5, is characterized in that, operator's left hand or right hand punch speed V in described step S411
1computing method be: with Kinect camera for three-dimensional system of coordinate initial point, Kinect camera front panel plane place plane is XOY face, the wherein right side of X-axis point operation person, the top of Y-axis point operation person, the front side of Z axis point operation person, supposes that the bone coordinate obtained from the skeletal graph picture frame hitting virtual sandbag is P (X
1, Y
1, Z
1), and get former frame bone coordinate Q (X
2, Y
2, Z
2), so punch vector
for (X
1-X
2, Y
1-Y
2, Z
1-Z
2), punch speed V can be obtained thus
1:
7. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 5, it is characterized in that, in described step S412, operator is with V
1punch speed impact virtual sandbag after, virtual sandbag central point initial swing speed V
0computing formula be:
V
0＝0.025V
1。
8. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 4, it is characterized in that, in described step S42, the computing method of virtual sandbag central point initial swing angle φ are:
φ＝argcos(1-V
0 2/2lg)
Wherein: V
0for virtual sandbag central point initial swing speed, l is the distance between virtual sandbag central point and hitch point, and g is acceleration of gravity, gets 9.8 meter per seconds
2.
9. the method for a kind of virtual Boxing sand bag training based on Kinect according to claim 1, it is characterized in that, when playing up virtual sandbag swing process by graphic interface in described step S5, virtual sandbag pendulum angle is often crossed a center line and reduce 25% of initial swing angle φ, namely by this amplitude fading, virtual sandbag stops at center line by being still in impact two cycles of rear swing, waits for and impacting next time.
10., based on a system for the virtual Boxing sand bag training of Kinect, it is characterized in that, this system comprises Kinect camera, computing machine and display device; Kinect camera is connected with computing machine, and computing machine is connected by video connecting line with display device;
Wherein, Kinect camera for obtaining operator right-hand man's spatial position data, right-hand man's positional information of described right-hand man's spatial position data mirror operation person;
Operator right-hand man's spatial position data is converted to left and right virtual boxing glove screen coordinate data by computing machine, utilize the position of the virtual boxing glove of virtual boxing glove screen coordinate Data Control in screen, left and right to move, then judge whether virtual boxing glove hits virtual sandbag according to left and right virtual boxing glove screen coordinate data; After the virtual sandbag of hit, calculate virtual sandbag central point initial swing speed and initial swing angle, and according to virtual sandbag central point initial swing speed, initial swing angle and damped system, play up virtual sandbag swing process by CGI;
Display device impacts the process of sandbag for showing shadowbox scene, virtual sandbag, virtual boxing glove and operator.
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|---|---|---|---|
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|---|---|---|---|
| CN201410657261.0A CN104361239A (en) | 2014-11-18 | 2014-11-18 | Boxing sandbag training virtualizing method based on Kinect and boxing sandbag training virtualizing system based on Kinect |
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