CN112433629A - Rigid body posture determination method and device of double-light-ball interactive pen and computer equipment - Google Patents
Rigid body posture determination method and device of double-light-ball interactive pen and computer equipment Download PDFInfo
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- CN112433629A CN112433629A CN202110115651.5A CN202110115651A CN112433629A CN 112433629 A CN112433629 A CN 112433629A CN 202110115651 A CN202110115651 A CN 202110115651A CN 112433629 A CN112433629 A CN 112433629A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention relates to a method and a device for determining rigid body postures of a double-photosphere interactive pen, computer equipment and a storage medium, wherein the method comprises the following steps: at the initial moment, setting virtual points on normal vectors of the first infrared reflective ball and the second infrared reflective ball, and setting the positions of the virtual points as first coordinate position points; when the double-photosphere interactive pen rotates, calculating according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment to obtain a second coordinate position point of the virtual point at the current moment; and according to the coordinate position points and the second coordinate position points of the first infrared reflective ball and the second infrared reflective ball at the current moment, combining the coordinate position points and the first coordinate position points of the first infrared reflective ball and the second infrared reflective ball at the initial moment, and solving the rotation posture and the position posture of the rigid body of the dual-photosphere interactive pen at the current moment by adopting a singular value decomposition method. The method solves the problem of solving the rigid posture of the double-light-ball interactive pen.
Description
Technical Field
The invention relates to the technical field of interactive pen posture processing, in particular to a method and a device for determining rigid body posture of a double-photosphere interactive pen, computer equipment and a storage medium.
Background
An interactive pen with double photosphere inertial sensors is a holographic 3D desktop interactive pen with a pen head and a pen tail embedded with an infrared reflective ball respectively and a pen body internally provided with an inertial sensor as a core chip. In an optical motion capture system, rigid body gestures are to be achieved. It is necessary to align the rotational attitude of the inertial sensor to the rotational attitude of the rigid body.
The conversion relation from the rotational attitude of the inertial sensor to the rotational attitude of the rigid body is solved by acquiring rotational attitude data corresponding to a plurality of frames of inertial sensor IMUs and the rigid body, and solving an equation satisfied between the rotational attitude of the inertial sensor IMUs and the rotational attitude of the rigid body to solve the conversion relation between the rotational attitudes of the inertial sensor IMUs and the rigid body. But it is not feasible to solve the rotational pose directly with the bi-photosphere because only one axis of the bi-photosphere is stable and the other two axes are unstable. Therefore, the accuracy of the rigid posture of the currently solved double-photosphere interactive pen is low, and the posture of the double-photosphere interactive pen is not favorably identified, so that the rigid posture solving problem of the double-photosphere interactive pen is continuously solved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method and a device for determining the rigid posture of a double-photosphere interactive pen, computer equipment and a storage medium, and can solve the problem of solving the rigid posture of the double-photosphere interactive pen and improve the accuracy of the rigid posture of the double-photosphere interactive pen.
In order to solve at least one technical problem, an embodiment of the present invention provides a method for determining a rigid body posture of a dual-photosphere interactive pen, where a pen head of the dual-photosphere interactive pen is provided with a first infrared reflective ball, a pen tail of the dual-photosphere interactive pen is provided with a second infrared reflective ball, and an inertial sensor is assembled in a pen body of the dual-photosphere interactive pen, and the method includes:
at an initial moment, setting a virtual point on a normal vector of the first infrared reflective ball and the second infrared reflective ball, and setting the position of the virtual point as a first coordinate position point;
when the double-photosphere interactive pen rotates, calculating according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment to obtain a second coordinate position point of the virtual point at the current moment;
and according to the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the second coordinate position point at the current moment, combining the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the first coordinate position point at the initial moment, and solving by adopting a singular value decomposition method to obtain the rotation posture and the position posture of the rigid body of the dual-light ball interactive pen at the current moment.
In one embodiment, the method further comprises:
at the initial moment, taking the plane of the first infrared reflecting ball and the second infrared reflecting ball as the xoy plane of the coordinate system,
determining the midpoint positions of the first infrared reflective ball and the second infrared reflective ball on the xoy plane, setting a z-axis at the midpoint positions, and enabling the normal vector to be on the z-axis;
obtaining a coordinate system of an initial moment according to the xoy plane and the z axis;
determining the position of the virtual point at the initial moment as a first coordinate position point by taking the coordinate system as reference;
and determining the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
In one embodiment, the calculating a second coordinate position point of the virtual point at the current time according to the first coordinate position point at the initial time, the rotational posture and the position posture of the rigid body of the dual-photosphere interactive pen at the previous time includes:
obtaining a coordinate vector of the first coordinate position point at the initial moment and a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen at the previous moment, and performing product processing to obtain a first vector;
accumulating the first vector and the translation vector of the position posture of the rigid body of the double-photosphere interactive pen at the last moment to obtain a second vector;
and determining a second coordinate position point of the virtual point at the current moment according to the second vector.
In one embodiment, the method further comprises:
and determining a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen and a translation vector of the position posture at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
In one embodiment, the method further comprises:
at the initial moment, obtaining a random rotation posture and a random position posture by adopting a singular value decomposition method, taking the random rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the random position posture as the initial position posture of the double-photosphere interactive pen.
In one embodiment, the method further comprises:
reading the actual rotation posture and the actual position posture of the rigid body of the double-photosphere interactive pen at the initial moment, taking the actual rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the actual position posture as the initial position posture of the double-photosphere interactive pen.
In one embodiment, the first coordinate position point of the virtual point is (0, 1) at the initial time.
The utility model provides a two rigid body gesture confirming devices of mutual pen of photosphere, the nib of two mutual pens of photosphere is provided with first infrared reflection of light ball, the pen tail of two mutual pens of photosphere is provided with the infrared reflection of light ball of second, the internal inertial sensor that is equipped with of the pen of two mutual pens of photosphere, the device includes:
the setting module is used for setting a virtual point on a normal vector of the first infrared reflective sphere and the second infrared reflective sphere at an initial moment and setting the position of the virtual point as a first coordinate position point;
the calculation module is used for calculating to obtain a second coordinate position point of the virtual point at the current moment according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment when the double-photosphere interactive pen rotates;
and the solving module is used for combining the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the first coordinate position point at the initial moment according to the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the second coordinate position point at the current moment, and solving by adopting a singular value decomposition method to obtain the rotating posture and the position posture of the rigid body of the dual-light-ball interactive pen at the current moment.
In addition, an embodiment of the present invention further provides a computer device, including: the system comprises a memory, a processor and an application program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the method of any embodiment when executing the application program.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which an application program is stored, and when the application program is executed by a processor, the steps of any one of the above-mentioned embodiments of the method are implemented.
In the embodiment of the present invention, by implementing the above method, the original two-point rigid bodies are equivalent to the three-point rigid body by setting the virtual points, and thus the rigid body rotation posture data required for aligning the rotation posture of the inertial sensor to the rigid body rotation posture can be obtained. The rotation postures of the two rigid bodies solved by the method of the embodiment of the invention can be well fused with the rotation postures of the inertial sensor in a certain principle.
Drawings
FIG. 1 is a schematic flow chart of a method for determining rigid body posture of a dual-photosphere interactive pen according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dual-photosphere interactive pen according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a state change of a dual-photosphere interactive pen according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a rigid body posture determining apparatus of a dual-photosphere interactive pen according to an embodiment of the present invention;
fig. 5 is a schematic structural component diagram of a computer device in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The embodiment of the invention provides a rigid body posture determining method of a double-photosphere interactive pen. The pen point of the double-light-ball interactive pen is provided with a first infrared reflective ball, the pen tail of the double-light-ball interactive pen is provided with a second infrared reflective ball, and an inertial sensor is assembled in the pen body of the double-light-ball interactive pen. As shown in fig. 1, the method for determining the rigid body posture of the dual-photosphere interactive pen includes the following steps:
s102, at the initial moment, setting a virtual point on a normal vector of the first infrared reflective sphere and the second infrared reflective sphere, and setting the position of the virtual point as a first coordinate position point.
Preferably, at the initial time, the first coordinate position point of the virtual point is (0, 1).
Specifically, at the initial moment, as shown in fig. 2, a suitable virtual point, i.e., the third point C, is added to a suitable normal vector of the dual photosphere rigid body, and two points of the dual photosphere itself are denoted as a point a and a point B, so as to achieve the purpose of a three-point rigid body.
In an embodiment, before S102, the method further includes: at an initial moment, taking a plane where the first infrared reflective ball and the second infrared reflective ball are located as an xoy plane of a coordinate system, determining midpoint positions of the first infrared reflective ball and the second infrared reflective ball in the xoy plane, setting a z-axis at the midpoint positions, and setting the normal vector on the z-axis; obtaining a coordinate system of an initial moment according to the xoy plane and the z axis; determining the position of the virtual point at the initial moment as a first coordinate position point by taking the coordinate system as reference; and determining the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
And S104, when the double-photosphere interactive pen rotates, calculating according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment to obtain a second coordinate position point of the virtual point at the current moment.
In an embodiment, the calculating a second coordinate position point of the virtual point at the current time according to the first coordinate position point at the initial time, the rotational posture and the position posture of the rigid body of the dual-photosphere interactive pen at the previous time includes: obtaining a coordinate vector of the first coordinate position point at the initial moment and a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen at the previous moment, and performing product processing to obtain a first vector; accumulating the first vector and the translation vector of the position posture of the rigid body of the double-photosphere interactive pen at the last moment to obtain a second vector; and determining a second coordinate position point of the virtual point at the current moment according to the second vector.
Specifically, as shown in fig. 3, each subsequent time is based on the coordinates of the third point C at the initial time
Rotational translation of rigid body at last moment
And
by the formula
The approximate coordinate position of the third point C under the frame at the current moment is obtained through conversion
。
Preferably, the method further comprises: and determining a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen and a translation vector of the position posture at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
Specifically, as shown in fig. 2 and fig. 3, the rotational posture and the position posture of the rigid body of the dual-light ball interactive pen need to be determined by a coordinate system. And determining a reference coordinate system through the point A, the point B and the point C, and further determining the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at each moment in the coordinate system. Therefore, the posture data of the rigid body required for the IMU rotational posture to be aligned to the rigid body rotational posture can be obtained.
And S106, combining the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the first coordinate position point at the initial moment according to the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the second coordinate position point at the current moment, and solving by adopting a singular value decomposition method to obtain the rotation posture and the position posture of the rigid body of the dual-light ball interactive pen at the current moment.
Specifically, as shown in fig. 3, the position information of A, B, C three points in the frame at the current time and the position information of A, B, C three points at the initial time are combined, and the rotation posture of the current time is solved by SVD
And position posture
. The stable postures of the double-light-sphere rigid body approximate to each moment can be solved by the cyclic reciprocating
、
As shown in fig. 3. The rotational attitude and the positional attitude at each time thus found are necessarily stable.
In an embodiment, the method further comprises: at the initial moment, obtaining a random rotation posture and a random position posture by adopting a singular value decomposition method, taking the random rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the random position posture as the initial position posture of the double-photosphere interactive pen.
In an embodiment, the method further comprises: reading the actual rotation posture and the actual position posture of the rigid body of the double-photosphere interactive pen at the initial moment, taking the actual rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the actual position posture as the initial position posture of the double-photosphere interactive pen.
At the initial time, a Singular Value Decomposition (SVD) method is usually adopted to solve, so as to obtain a random initial rotation attitude R0, and a corresponding position attitude T0 is solved. If the actual expected initial pose is known to be
、
It is more reasonable to directly initialize the initial rotation attitude and the position attitude to
、
. For example, at the initial time, the initial rotational and positional attitudes of an interactive pen of a two-ball IMU (inertial sensor) can be set to
、
Wherein
For calibrating the unit rotation matrix,
Representing a translation vector.
By implementing the method, the original two-point rigid body is equivalent to the three-point rigid body by setting the virtual point, so that the rigid body rotation posture data required by the rotation posture of the inertial sensor to be aligned to the rigid body rotation posture can be solved. The rotation postures of the two rigid bodies solved by the method of the embodiment of the invention can be well fused with the rotation postures of the inertial sensor in a certain principle. In addition, by implementing the method, the problem of solving the rigid body posture of the double-photosphere interactive pen can be solved, and the accuracy of the rigid body posture of the double-photosphere interactive pen can be improved.
In an embodiment, the present invention further provides a rigid body posture determining apparatus for a dual-photosphere interactive pen, wherein a pen head of the dual-photosphere interactive pen is provided with a first infrared reflective ball, a pen tail of the dual-photosphere interactive pen is provided with a second infrared reflective ball, and an inertial sensor is assembled in a pen body of the dual-photosphere interactive pen. As shown in fig. 4, the apparatus includes:
the setting module 12 is configured to set a virtual point on a normal vector of the first infrared reflective sphere and the second infrared reflective sphere at an initial time, and set a position of the virtual point as a first coordinate position point;
the calculation module 14 is configured to calculate, when the dual-photosphere interactive pen rotates, a second coordinate position point of the virtual point at the current time according to the first coordinate position point at the initial time, the rotational posture and the position posture of the rigid body of the dual-photosphere interactive pen at the previous time;
and the solving module 16 is configured to combine the coordinate position point of the first infrared reflective sphere, the coordinate position point of the second infrared reflective sphere, and the first coordinate position point at the initial time according to the coordinate position point of the first infrared reflective sphere, the coordinate position point of the second infrared reflective sphere, and the second coordinate position point at the current time, and solve by using a singular value decomposition method to obtain the rotational posture and the position posture of the rigid body of the dual-light-sphere interactive pen at the current time.
For specific limitations of the rigid body posture determining apparatus for a dual-photosphere interactive pen, refer to the above limitations of the rigid body posture determining method for a dual-photosphere interactive pen, and are not described herein again. All or part of each module in the rigid body posture determining device of the double-photosphere interactive pen can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment of the present invention, an application program is stored on a computer-readable storage medium, and when the application program is executed by a processor, the method for determining a rigid body posture of a dual-photosphere interactive pen according to any one of the embodiments is implemented. The computer-readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random AcceSS memories), EPROMs (EraSable Programmable Read-Only memories), EEPROMs (Electrically EraSable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a form readable by a device (e.g., a computer, a cellular phone), and may be a read-only memory, a magnetic or optical disk, or the like.
The embodiment of the invention also provides a computer application program which runs on a computer and is used for executing the rigid body posture determining method of the double-photosphere interactive pen in any one of the embodiments.
Fig. 5 is a schematic structural diagram of a computer device in the embodiment of the present invention.
An embodiment of the present invention further provides a computer device, as shown in fig. 5. The computer apparatus includes a processor 502, a memory 503, an input unit 504, a display unit 505, and the like. Those skilled in the art will appreciate that the device configuration means shown in fig. 5 do not constitute a limitation of all devices and may include more or less components than those shown, or some components in combination. The memory 503 may be used to store the application 501 and various functional modules, and the processor 502 executes the application 501 stored in the memory 503, thereby performing various functional applications of the device and data processing. The memory may be internal or external memory, or include both internal and external memory. The memory may comprise read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), flash memory, or random access memory. The external memory may include a hard disk, a floppy disk, a ZIP disk, a usb-disk, a magnetic tape, etc. The disclosed memory includes, but is not limited to, these types of memory. The disclosed memory is by way of example only and not by way of limitation.
The input unit 504 is used for receiving input of signals and receiving keywords input by a user. The input unit 504 may include a touch panel and other input devices. The touch panel can collect touch operations of a user on or near the touch panel (for example, operations of the user on or near the touch panel by using any suitable object or accessory such as a finger, a stylus and the like) and drive the corresponding connecting device according to a preset program; other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., play control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like. The display unit 505 may be used to display information input by a user or information provided to the user and various menus of the terminal device. The display unit 505 may take the form of a liquid crystal display, an organic light emitting diode, or the like. The processor 502 is a control center of the terminal device, connects various parts of the entire device using various interfaces and lines, and performs various functions and processes data by running or executing software programs and/or modules stored in the memory 503 and calling data stored in the memory.
As one embodiment, the computer device includes: one or more processors 502, a memory 503, one or more applications 501, wherein the one or more applications 501 are stored in the memory 503 and configured to be executed by the one or more processors 502, and wherein the one or more applications 501 are configured to perform a rigid body pose determination method of a dual photosphere interactive pen in any of the above embodiments.
In addition, the method, the apparatus, the computer device and the storage medium for determining the rigid body posture of a dual-photosphere interactive pen provided by the embodiment of the present invention are described in detail above, and a specific example should be used herein to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A rigid body posture determining method of a double-photosphere interactive pen is characterized in that a first infrared light reflecting ball is arranged at a pen point of the double-photosphere interactive pen, a second infrared light reflecting ball is arranged at a pen tail of the double-photosphere interactive pen, an inertial sensor is assembled in a pen body of the double-photosphere interactive pen, and the method comprises the following steps:
at an initial moment, setting a virtual point on a normal vector of the first infrared reflective ball and the second infrared reflective ball, and setting the position of the virtual point as a first coordinate position point;
when the double-photosphere interactive pen rotates, calculating according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment to obtain a second coordinate position point of the virtual point at the current moment;
and according to the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the second coordinate position point at the current moment, combining the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the first coordinate position point at the initial moment, and solving by adopting a singular value decomposition method to obtain the rotation posture and the position posture of the rigid body of the dual-light ball interactive pen at the current moment.
2. The method of claim 1, further comprising:
at the initial moment, taking the plane of the first infrared reflecting ball and the second infrared reflecting ball as the xoy plane of the coordinate system,
determining the midpoint positions of the first infrared reflective ball and the second infrared reflective ball on the xoy plane, setting a z-axis at the midpoint positions, and enabling the normal vector to be on the z-axis;
obtaining a coordinate system of an initial moment according to the xoy plane and the z axis;
determining the position of the virtual point at the initial moment as a first coordinate position point by taking the coordinate system as reference;
and determining the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
3. The method of claim 2, wherein the calculating a second coordinate position point of the virtual point at the current time according to the first coordinate position point at the initial time, the rotational posture and the position posture of the rigid body of the dual-photosphere interactive pen at the previous time comprises:
obtaining a coordinate vector of the first coordinate position point at the initial moment and a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen at the previous moment, and performing product processing to obtain a first vector;
accumulating the first vector and the translation vector of the position posture of the rigid body of the double-photosphere interactive pen at the last moment to obtain a second vector;
and determining a second coordinate position point of the virtual point at the current moment according to the second vector.
4. The method of claim 3, further comprising:
and determining a rotation matrix of the rotation posture of the rigid body of the double-photosphere interactive pen and a translation vector of the position posture at each moment when the double-photosphere interactive pen rotates by taking the coordinate system as reference.
5. The method of claim 1, further comprising:
at the initial moment, obtaining a random rotation posture and a random position posture by adopting a singular value decomposition method, taking the random rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the random position posture as the initial position posture of the double-photosphere interactive pen.
6. The method of claim 1, further comprising:
reading the actual rotation posture and the actual position posture of the rigid body of the double-photosphere interactive pen at the initial moment, taking the actual rotation posture as the initial rotation posture of the double-photosphere interactive pen, and taking the actual position posture as the initial position posture of the double-photosphere interactive pen.
7. The method of claim 1, wherein the first coordinate location point of the virtual point is (0, 1) at an initial time.
8. The utility model provides a two rigid body gesture confirming devices of mutual pen of photosphere, its characterized in that, the nib of two mutual pens of photosphere is provided with first infrared reflection of light ball, the pen tail of two mutual pens of photosphere is provided with the infrared reflection of light ball of second, the internal inertial sensor that is equipped with of the internal of the pen of two mutual pens of photosphere, the device includes:
the setting module is used for setting a virtual point on a normal vector of the first infrared reflective sphere and the second infrared reflective sphere at an initial moment and setting the position of the virtual point as a first coordinate position point;
the calculation module is used for calculating to obtain a second coordinate position point of the virtual point at the current moment according to the first coordinate position point at the initial moment, the rotation posture and the position posture of the rigid body of the double-photosphere interactive pen at the previous moment when the double-photosphere interactive pen rotates;
and the solving module is used for combining the coordinate position point of the first infrared reflective ball, the coordinate position point of the second infrared reflective ball and the first coordinate position point at the initial moment according to the coordinate position point of the first infrared reflective ball, the second coordinate position point of the second infrared reflective ball and the second coordinate position point at the current moment, and solving by adopting a singular value decomposition method to obtain the rotating posture and the position posture of the rigid body of the dual-light-ball interactive pen at the current moment.
9. A computer device comprising a memory, a processor and an application program stored on the memory and executable on the processor, wherein the steps of the method of any one of claims 1 to 7 are implemented when the application program is executed by the processor.
10. A computer-readable storage medium, on which an application program is stored, which when executed by a processor implements the steps of the method of any one of claims 1 to 7.
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| CN113375662A (en) | 2021-09-10 |
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