CN105045389B - A kind of demenstration method of interactive sand table system - Google Patents
A kind of demenstration method of interactive sand table system Download PDFInfo
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Abstract
The invention discloses a kind of demenstration methods of interactive sand table system, interactive sand table system includes host, projecting apparatus, depth sensing equipment and sand table, depth sensing equipment obtains sand table elevation information and passes to host, host obtains projected image after treatment after obtaining sand table elevation information, and it is projected image onto on sand table by projection arrangement, it includes three dimensional terrain reconstruction that host, which obtains the process handled after sand table elevation information, and the topography system that three dimensional terrain reconstruction is formed is made of the grid of a plurality of triangle splits.This invention simplifies three-dimensional reconstruction data processings.Data volume to be treated is small, can realize that at least 20 times processing per second, processing time is short achieve the purpose that real-time three-dimensional reconstruction and real-time, interactive.
Description
[technical field]
The present invention relates to augmented reality more particularly to a kind of demenstration methods of interactive sand table system.
[background technology]
Augmented reality is that the information provided by computer system increases the technology that user perceives real world, will
Virtual Information application is to real world, and dummy object, scene or the system prompt information superposition that computer is generated are to very
In real field scape, to realize the enhancing to reality.
The key technology of augmented reality includes：Tracking and location technology, display technology.Tracking and location technology include figure
Detection, optical sensing, ultrasonic wave, gyroscope etc.；Display technology includes Helmet Mounted Display, hand-held display, the projection display, general
Logical display etc..
Augmented reality generally comprises following four basic step：(1) true field is obtained by tracking and location technology
Scape information；(2) real scene and virtual scene information are analyzed and is matched；(3) display location and virtual camera are carried out
It analyzes and matches；(4) virtual screen is generated, is merged really and virtual screen, and final picture is shown by display technology.
Application No. is a kind of interactive sand table demonstration system of the disclosure of the invention of CN201410407198.5 and methods, this is
System includes body-sensing device, projection arrangement, stereo display module and host system.This method includes：1, system connection is completed, and is made
Projection covering sand table region makes the action message in body-sensing device capture setting sand table region and spatial information；2, start related
Equipment, body-sensing device obtain sand table spatial information and pass to host system, after host computer system processes, by projection arrangement in sand table
Upper carry out contour mapping；3, when barrier occurs in sand table overhead, the action message and spatial information of barrier are obtained；4, sentence
Whether disconnected barrier is the variation of sand table spatial information, if it is not, cloud layer simulation is carried out, including cloud cover range, cloud layer are thick
Degree, and then different rainfall sizes are converted into, and convert rainfall to water accumulating volume, and simulate water accumulating volume and ponding flow velocity；If so,
Update internal system sand table spatial information.
Before carrying out contour mapping on sand table, host system needs to carry out the demenstration method of interactive sand table system
Three dimensional terrain reconstruction, conventional three-dimensional reconstruction need to handle mass data, and processing time is long, it is difficult to meet system and change sand table in real time
The demand that moulding interacts.
[invention content]
The technical problem to be solved in the present invention is to provide a kind of three-dimensional reconstructions to realize that the time is short, disclosure satisfy that system is handed in real time
The demenstration method of the interactive sand table system of mutual demand.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is a kind of demonstration of interactive sand table system
Method, interactive sand table system include host, projecting apparatus, depth sensing equipment and sand table, and it is high that depth sensing equipment obtains sand table
Degree information passes to host, and host obtains projected image after treatment after obtaining sand table elevation information, and passes through projection arrangement
It projects image onto on sand table, it includes three dimensional terrain reconstruction that host, which obtains the process handled after sand table elevation information, three-dimensional
The topography system that terrain reconstruction is formed is made of the grid of a plurality of triangle splits.
Above-described demenstration method, all vertexs of a triangle are arranged in a matrix in the projection of horizontal plane.
Above-described demenstration method, it includes at contour that host, which obtains the process handled after sand table elevation information,
Sand table elevation information by plural section is highly divided into, is assigned different colors according to different height sections, pressed by reason, contour processing
Height section colours the triangle.
Above-described demenstration method, it includes at scenario simulation that host, which obtains the process handled after sand table elevation information,
Sand table elevation information is corresponded at least one landforms textures by reason, scenario simulation processing by plural section, each height section is highly divided into,
According to the height and position of the triangle, landforms textures are carried out to each triangle respectively.
Above-described demenstration method, it includes at scenario simulation that host, which obtains the process handled after sand table elevation information,
Reason, scenario simulation processing includes obtaining the gradient of each triangle, and be divided into a plurality of angular segments, each angle by 0 ° to 90 °
The corresponding at least one landforms textures of section carry out landforms textures to each triangle respectively according to the gradient of the triangle.
Above-described demenstration method, it includes measuring projection that host, which obtains the process handled after sand table elevation information,
With the relative position relation of the true sand table scene of the restriction, added using the three-dimensional camera system of game engine in virtual scene
Three-dimensional camera makes its vertical irradiation to according to sand regional depth in sand table to the visual angle of the projecting apparatus in simulation of real scenes
The threedimensional model of data reconstruction selects camera type for rectangular projection pattern；According to projection and the true sand table scene of the restriction
Camera is positioned over corresponding position above threedimensional model by difference in height, horizontal position difference data.Adjust camera cut planar dimension and
Ratio makes camera indication range identical as the range that need to be projected.
It is empty to place four calibration in virtual scene in the quadrangle for needing projected picture region for above-described demenstration method
Quasi- cursor, then observes the picture gone out by projector in sand table, and fine tuning camera makes virtual cursor be in real scene
The quadrangle in sand table region.
Above-described demenstration method, in gaming two players play the part of two game roles respectively, the first player is aobvious
Show the role that oneself is watched on device and by the action of mouse and controlled by keyboard role；Second player observation the in real time at sand table
The role of one player position in the scene and the direction of motion, and hand is used by the existing Gesture Recognition of depth sensing equipment
The generation of gesture trigger event occurs interactive with the role of the first player.
The demenstration method of the interactive sand table system of the present invention simplifies three-dimensional reconstruction data processing.Data volume to be treated
It is small, it can realize that at least 20 times processing per second, processing time is short achieve the purpose that real-time three-dimensional reconstruction and real-time, interactive.
[description of the drawings]
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the outline drawing of the interactive sand table system of the embodiment of the present invention.
Fig. 2 is the flow chart of the demenstration method of the interactive sand table system of the embodiment of the present invention.
[specific implementation mode]
The embodiment of the present invention is divided into hardware implementation, software implementation and double screen linkage three parts.
(1) hardware implementation please refers to Fig.1.
Equipment main composition：Depth sensing equipment 1, projecting apparatus 2, steel holder 3, sand table 4, computer and key mouse 5 and aobvious
Show device 6.
The specific installation steps of hardware are as follows：The mobile sand table of sand table 4 is placed in level land, steel holder 3 is used into screw
It is fixed on the side of sand box.Sand is inserted in sand box becomes sand table.By projecting apparatus 2 and depth sensing equipment 1 above sand table 4
It is fixed on steel holder 3.
After installing hardware device, needs to calibrate hardware device, be as follows：Percentage regulation sensing is set
Standby 1 position and angle, enable its visual range that the Shamian Island of lower section is completely covered.Position and the angle for adjusting projecting apparatus 2, enable its projection
Range covers the Shamian Island of lower section sand table 4.Picture calibration is carried out using the adjustment selection function built in projecting apparatus 2：Including trapezoidal school
Quasi- function, ratio selection function, resolution options function, by using the adjustment function built in projecting apparatus, enable projected picture with
The matching of 4 plane sizes of sand table, plane is parallel and projected picture four is parallel while with sandbox plane four.Use 5 video card of computer
Setting function is calibrated：Including across shielding display function, resolution ratio selection function, display scale selection function passes through computer
The setting function of video card enables picture can be across screen display, resolution sizes matching and complete and accurate covering 4 region of sand table and 1-
6 displays.
(2) software implementation is referring to FIG. 2, be as follows：
Capture depth data：
The depth information of sand in sand table 4 is obtained first with depth sensing equipment 1.
Noise-removed filtering：
Depth data essence represents the physical distance information of depth sensing equipment and the extraneous world.The setting one in the external world
BURN-THROUGH RANGE (such as 1m) and a nearest detection range (such as 0.8m), the depth distance range actually used in this way are
0.2m.Ignore the data beyond most distant and nearest detection range.Actual grade distance is subtracted with BURN-THROUGH RANGE, then divided by deep
Distance range is spent, what is obtained is the height ratio value of landform.
May include unwanted noise spot in depth information, so needing through the methods of mean filter, medium filtering
Depth information is handled, noise is weakened.Treated, and depth information can be applied to real-time dimensional topography system
In reconstruction.
Three dimensional terrain reconstruction：
Each depth information of each frame depth image is carried out after as above handling, obtains that game engine can be converted to
The Terrain Elevation data of existing topography system.The topography system of game engine is that a series of vertex are constituted in essence
Tri patch, then the grid that is made of these tri patch form.The height of landform be exactly by these constitute grid by square
The vertex of battle array arrangement determines.(such as Unity3D) provides the interface directly to landform assignment height in certain game engines, will
After above Terrain Elevation ratio array is assigned to landform, the topography system in game engine is i.e. according to depth information to sand table 4
Sand carry out real-time three-dimensional reconstruction.
For conventional three-dimensional method for reconstructing due to big data quantity process problem, three could be formed by needing longer time to carry out resolving
Dimension module cannot be satisfied real-time, interactive demand.The above method of the present invention simplifies three-dimensional reconstruction data processing, can realize it is per second extremely
Few 20 processing, to reach real-time three-dimensional reconstruction and real-time, interactive purpose.
With tinter (Shader) colored texture textures：
After three dimensional terrain reconstruction is good, its color change can be kept richer by the method for adding material or texture for landform
Richness completes different target demand.In general, it is divided into two ways：It is landform that the first, which is by writing Shader tinters,
Add self-defined material.Second is by way of texture mapping.Contour case below and real scene simulation
In case, the implementation method of two ways is illustrated respectively.
1) realization of contour case：
Contour illustrates the variation of terrain altitude in geographical teaching.In this case, what above-mentioned steps were built in real time
Virtual Terrain will be coloured, and the mode of coloring is according to the color for showing different deciles according to height above sea level difference from low to high.With
For adding contour in Unity engines for landform, contour material ball is created first, then uses ShaderLab interactive
The demenstration method shading language of sand table system writes contour tinter (Shader), and is assigned to material ball, then
Program is added dynamically to when running in landform.Contour is to obtain landform by a variable with tinter (Shader)
Highly, several deciles then will be highly divided into, tinter assigns material different colors according to different height.And this is used
The landform of a material, color can show different colors as the height of landform changes.By coloring, the image of sand table is richer
Richness, to adapt to the high picture quality demand of the fields such as education, military affairs application.
2) realization of real scene simulation case：
The landform of simulation of real scenes needs to realize by adding texture mapping for landform.To be ground in Unity engines
For shape adds texture mapping, textures are loaded using textures function items first in topography system, to show different landforms
Feature, i.e. meadow, stone, desert, snowfield textures each 2 totally 8, generic 2, which put up figure, wants different from, such as 2 meadows
Textures, wherein one textures pattern is dense lawn, in addition the weeds in a stone, can use cyclopentadienyl in gentle slope landform
Close lawn textures, the weeds textures in steep slope topography is using stone specify textures in topography system using textures function items
Size, for example the size of meadow textures is set as 20 pixel units to match textures ratio and landform ratio.This hair
The bright demenstration method shading language by the interactive sand table systems of ShaderLab is that landform writes tinter (Shader), is allowed to
With the height of landform, the difference of the gradient and load different textures, to simulate natural feature variation.For example, by landform according to
Height is divided into 500 meters or less, 500 meters to 1000 meters, 1000 meters or more three parts, three kinds of corresponding meadow, stone and snowfield differences
The topographical position of textures, different height reads corresponding textures.By calculating landform triangular facet normal and its horizontal plane projecting direction
Angle can obtain the landform triangular facet approximation gradient, and landform is divided into 15 degree or less, 15 degree to 60 degree, 60 degree or more according to the gradient
Three parts, corresponding meadow, desert, the different textures of three kinds of stone, the topographical position of different gradient read corresponding textures.
The matching of virtual scene and real scene：
The relative position relation of projection and the true sand table scene of the restriction is measured, such as difference in height, horizontal position is poor, in void
In quasi- scene three-dimensional camera regarding to the projecting apparatus 2 in simulation of real scenes is added using the three-dimensional camera system of game engine
Angle makes its vertical irradiation to the threedimensional model according to sand regional depth data reconstruction in sand table 4, and it is orthogonal to select camera type
Projection mode.Camera is positioned over three-dimensional according to projection and the difference in height of the true sand table scene of the restriction, horizontal position difference data
Corresponding position above model.It adjusts camera and cuts planar dimension and ratio, make camera indication range identical as the range that need to be projected,
Virtual screen is provided to be embodied as projecting apparatus 2.Then part is finely adjusted：In virtual scene, projected picture area is being needed
Four calibration virtual cursors are placed in the quadrangle in domain, and the picture being projected out by projecting apparatus 2 is then observed in sand table 4, is constantly finely tuned
Camera makes virtual cursor be in the quadrangle in 4 region of sand table in real scene, and this completes the work of the local alignment of camera, just
The true virtual information that maintains projects position in accurate real scene.
(3) realization of double screen linkage case：
Double screen linkage case is the virtual interacting class game case built on the basis of hardware above, software implementation.This case
Example is intended to keyboard and the mouse of depth detection function and human-computer interaction function and computer 5 itself based on depth sensing equipment 1
Mark realizes the gaming platform of a double battle mode.
Two players play the part of two game roles respectively in gaming.The playing method of role A is identical as conventional game：Pass through mouse
Mark and keyboard are with first or the action of third person operation player role (or automobile, aircraft etc.), and role A is in display 6
The role of oneself is seen above.And then figure B, role B will observe role A in real time to another game player at sand table 4
Current location in the scene and the direction of motion simultaneously trigger thing with regard to this by the existing Gesture Recognition of depth sensing equipment 1
Simultaneously interactive, the advance of interference blocking role A occurs with role A for the generation of part.For example, role B triggers sand and dust by gesture of clenching fist
Sudden and violent event, position generates sandstorm in role's A scenes, allows the sight of role A to be blocked by sandstorm, can not see ambient enviroment
And motion path, it thus interferes with role A and advances.
Claims (7)
1. a kind of demenstration method of interactive sand table system, interactive sand table system includes host, projecting apparatus, depth sensing equipment
And sand table, depth sensing equipment obtain sand table elevation information and pass to host, host obtains after sand table elevation information by processing
After obtain projected image, and projected image onto on sand table by projection arrangement, which is characterized in that host obtains sand table height letter
The process handled after breath includes three dimensional terrain reconstruction, and the topography system that three dimensional terrain reconstruction is formed is spelled by a plurality of triangles
The grid of conjunction is constituted；Specifically, it includes measuring projection and limiting that host, which obtains the process handled after sand table elevation information,
The relative position relation of true sand table scene, three-dimensional camera is added in virtual scene using the three-dimensional camera system of game engine
To the visual angle of the projecting apparatus in simulation of real scenes, make its vertical irradiation to according to sand regional depth data reconstruction in sand table
Threedimensional model, select camera type for rectangular projection pattern；According to projection and the difference in height, the level that limit true sand table scene
Camera is positioned over corresponding position above threedimensional model by position difference data；It adjusts camera and cuts planar dimension and ratio, allow camera
Indication range is identical as the range that need to be projected.
2. demenstration method according to claim 1, which is characterized in that all vertexs of a triangle are pressed in the projection of horizontal plane
Matrix arrangement.
3. demenstration method according to claim 1, which is characterized in that handled after host acquisition sand table elevation information
Process includes contour processing, and contour is handled sand table elevation information by plural section is highly divided into, according to different height sections
Different colors is assigned, the triangle is coloured by height section.
4. demenstration method according to claim 1, which is characterized in that handled after host acquisition sand table elevation information
Process includes scenario simulation processing, and by sand table elevation information by plural section is highly divided into, each height section is right for scenario simulation processing
At least one landforms textures are answered, according to the height and position of the triangle, landforms textures are carried out to each triangle respectively.
5. demenstration method according to claim 1, which is characterized in that handled after host acquisition sand table elevation information
Process includes scenario simulation processing, and scenario simulation processing includes obtaining the gradient of each triangle, and be divided into plural number by 0 ° to 90 °
A angular segments, each angular segments correspond at least one landforms textures, according to the gradient of the triangle, respectively to each triangle
Carry out landforms textures.
6. demenstration method according to claim 1, which is characterized in that in virtual scene, needing projected picture region
Four calibration virtual cursors are placed in quadrangle, and the picture gone out by projector is then observed in sand table, and fine tuning camera makes virtually
Cursor is in the quadrangle in sand table region in real scene.
7. demenstration method according to claim 1, which is characterized in that two players play the part of two game respectively in gaming
Role, the first player watch the role of oneself and over the display by the actions of mouse and controlled by keyboard role；Second player
The role position in the scene of the first player of observation and the direction of motion in real time at sand table, and it is existing by depth sensing equipment
Gesture Recognition occurs interactive come the generation for the trigger event that uses gesture with the role of the first player.
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