CN113190112A - Method for driving target model by extensible data glove and related device - Google Patents
Method for driving target model by extensible data glove and related device Download PDFInfo
- Publication number
- CN113190112A CN113190112A CN202110381247.2A CN202110381247A CN113190112A CN 113190112 A CN113190112 A CN 113190112A CN 202110381247 A CN202110381247 A CN 202110381247A CN 113190112 A CN113190112 A CN 113190112A
- Authority
- CN
- China
- Prior art keywords
- model
- data
- hand
- driven
- glove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000013499 data model Methods 0.000 claims abstract description 212
- 238000006243 chemical reaction Methods 0.000 claims abstract description 73
- 210000002478 hand joint Anatomy 0.000 claims description 77
- 210000003857 wrist joint Anatomy 0.000 claims description 8
- 210000000511 carpometacarpal joint Anatomy 0.000 claims description 6
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 230000009466 transformation Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 208000035217 Ring chromosome 1 syndrome Diseases 0.000 description 1
- 208000032825 Ring chromosome 2 syndrome Diseases 0.000 description 1
- 208000032826 Ring chromosome 3 syndrome Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides an extensible data glove driving target model method and a related device, wherein the method comprises the following steps: establishing a general hand data model, and acquiring a conversion relation between the data model of each data glove and the general hand data model; obtaining model characteristics corresponding to a hand model to be driven, and calculating a conversion relation between the general hand data model and the hand model to be driven; and converting the data glove data into the hand model data to be driven according to the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the general hand data model and the hand model to be driven. No matter which manufacturer produces the data gloves, the data gloves can be converted according to the general hand data model to obtain data of a unified space model, if the data gloves are developed, if the data gloves are replaced by new data gloves, the data gloves do not need to be developed again, time can be saved, and cost waste is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent wearable equipment, in particular to a method for driving a target model by using an extensible data glove and a related device.
Background
The purpose of the data glove is to convey the pose of a human hand to the virtual environment in a quasi-real time. Some data gloves are capable of feeding back information to the operator about the interaction with the virtual object. The data glove enables an operator to interact with the virtual world in a more direct, natural and efficient manner, greatly enhancing interactivity and immersion.
The types of sensors that are mainly used when capturing the pose of a human hand based on data gloves include, but are not limited to, mechanical exoskeleton sensors, optical marker points, bending sensors, inertial sensors (typically nine-axis inertial sensors including 3-axis accelerometers, 3-axis gyroscopes, and 3-axis magnetometers), and the like.
Generally, the exoskeleton sensor type glove is bulky and has low capture freedom; optical mark point type gloves are expensive; the bending sensor type glove has the advantages of high cost, poor sensor consistency, low precision and low capture freedom. Most of data gloves based on the inertial principle adopt a nine-axis inertial sensor, have the advantages of high degree of freedom, high sensitivity, relatively low cost and the like, but the data gloves must use a geomagnetic field to measure the yaw angle. The earth magnetic field is very weak in natural environment and is susceptible to other ferromagnetic substances (such as various ferromagnetic devices, electric appliances, furniture and the like) and various electromagnetic principle electric appliances (such as a loudspeaker, a motor and the like). Similarly, it is difficult to share with components such as vibration motors (electromagnetic principle devices) that can provide good physical feedback capability. Therefore, the data gloves adopting various principles have certain advantages and disadvantages.
At present, aiming at the data gloves with various brands and various working principles on the current market, the problem that basic data models corresponding to the data gloves are inconsistent exists, the data gloves produced by various manufacturers have specific drivable hand data models for products at home, and in application and development, after one data glove is used for development, if the data glove is replaced by a new data glove, the data glove needs to be developed again, so that the problem of time and cost waste is caused.
Disclosure of Invention
The invention mainly aims to solve the technical problems that basic data models corresponding to data gloves are inconsistent in the data gloves aiming at various working principles, and if one kind of data gloves are developed, the data gloves need to be developed again if the data gloves are replaced by different data gloves.
In view of the above, a first aspect of the present invention provides a method for driving a target model by an extensible data glove, the method comprising: acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model; obtaining model characteristics corresponding to a hand model to be driven, and calculating a conversion relation between the general hand data model and the hand model to be driven; and converting the data glove data model data into the hand model data to be driven according to the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the general hand data model and the hand model to be driven. Since the data model of each data glove comprises the hand model to be driven, the general hand data model can be converted into the hand model to be driven according to the conversion relation between the data model of each data glove and the general hand data model. No matter which manufacturer produces the hand model to be driven, the hand model can be converted according to the general hand data model, if a data glove is used for development, the hand model can be developed again without redevelopment, so that the time can be saved, and the cost waste can be reduced.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the universal hand data model includes: a universal model hand joint structure, a local coordinate system of each joint in the universal model hand joint structure, and an initial pose of the universal model hand joint structure, the universal model hand joint structure comprising: 1 wrist joint, 5 wrist metacarpal joints, 5 metacarpophalangeal joints, and 9 interphalangeal joints, acquiring the general hand data model includes: acquiring a local coordinate system of each joint in the joint structure of the hand part of the general model, wherein the local coordinate system of each joint of the general model takes the starting point of each joint as an origin, and the skeleton direction of each joint is on a positive half axis of a Z axis of the local coordinate system of each joint; obtaining an initial pose of the generic model hand joint structure, the initial pose of the generic model hand joint structure comprising: the bone orientation of each joint in the universal model hand joint structure is on the positive semi-axis of the Z-axis of the world coordinate system.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the general hand data model further includes: the general model hand back orientation, the obtaining the initial pose of the general model hand joint structure further comprises: and acquiring the direction of the back of the hand as the positive direction of the Y axis of the world coordinate system.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the data model of each data glove includes: each data glove hand joint structure, a local coordinate system of each joint in the data glove hand joint structure, and an initial pose of the data glove hand joint structure.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the data model of the model to be driven includes: the hand joint structure of the model to be driven comprises a hand joint structure of the model to be driven, a local coordinate system of each joint in the hand joint structure of the model to be driven, and an initial posture of the hand joint structure of the model to be driven.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the obtaining a conversion relationship between the data model of each data glove and the general hand data model includes: when the data model of each data glove and the corresponding joint in the general hand data model are in the same posture, acquiring global rotation data of a joint local coordinate system in the hand joint structure of each data glove and acquiring global rotation data of a corresponding joint local coordinate system in the general hand data model; and acquiring the conversion relation between the data model of each data glove and the universal hand data model according to the global rotation data of the corresponding joint local coordinate system in the hand joint structures of each data glove and the universal hand data model.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the calculating a conversion relationship between the general hand data model and the to-be-driven hand model includes: when the joints corresponding to the general hand data model and the hand model to be driven are in the same posture, acquiring global rotation data of a joint local coordinate system in a hand joint structure of the general hand data model and acquiring global rotation data of a corresponding joint local coordinate system in the hand model to be driven; and acquiring the conversion relation between the general hand data model and the hand model to be driven according to the general hand data model and the global rotation data of the corresponding joint local coordinate system in the hand joint structure of the hand model to be driven.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the converting the data glove data model into the to-be-driven hand model data according to a conversion relationship between the data model of each data glove and the general hand data model and a conversion relationship between the general hand data model and the to-be-driven hand model includes: and acquiring the conversion relation between the hand model to be driven and each data glove data model from the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the hand model to be driven and the general hand data model.
Optionally, with reference to the first aspect, in a possible implementation manner of the first aspect, the method further includes: data of data gloves of multiple manufacturers are converted into the universal hand data model by taking the universal hand data model as an intermediate interface; and the conversion relation between the general hand data model and the hand model to be driven is kept unchanged, so that the extensible data glove driving target model method is realized.
A second aspect of the invention provides an apparatus for driving a target model with an expandable data glove, the apparatus comprising: the first acquisition module is used for acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model; the second acquisition module is used for acquiring model characteristics corresponding to the hand model to be driven and calculating a conversion relation between the general hand data model and the hand model to be driven; and the processing module is used for converting the universal hand data model into the hand model to be driven according to the conversion relation between the data glove data models and the universal hand data model and the conversion relation between the universal hand data model and the hand data model to be driven.
Optionally, in combination with the second aspect, the universal hand data model includes: a universal model hand joint structure, a local coordinate system of each joint in the universal model hand joint structure, and an initial pose of each hand joint structure of the universal model, the universal model hand joint structure comprising: 1 wrist joint, 5 carpometacarpal joints, 5 metacarpophalangeal joints and 9 interphalangeal joints, wherein the data model of each data glove comprises: each data glove hand joint structure, a local coordinate system of each joint in each data glove hand joint structure, and an initial pose of each data glove hand joint structure; the data model of the model to be driven comprises: the method comprises the steps of obtaining a model hand joint structure to be driven, a local coordinate system of each joint in the model hand joint structure to be driven, and an initial posture of the model hand joint structure to be driven; the first obtaining module is specifically configured to obtain global rotation data of a joint local coordinate system in a hand joint structure of each data glove and obtain global rotation data of a corresponding joint local coordinate system in the general hand data model when the data model of each data glove and the corresponding joint in the general hand data model are in the same posture; acquiring a conversion relation between the data model of each data glove and the universal hand data model according to global rotation data of a corresponding joint local coordinate system in the hand joint structures of each data glove and the universal hand data model; the second obtaining module is specifically configured to obtain global rotation data of a joint local coordinate system in a hand joint structure of the general hand data model and obtain global rotation data of a joint local coordinate system in the hand model to be driven when the joints corresponding to the general hand data model and the hand model to be driven are in the same posture; and acquiring the conversion relation between the general hand data model and the hand model to be driven according to the general hand data model and the global rotation data of the corresponding joint local coordinate system in the hand joint structure of the hand model to be driven.
A third aspect of the invention provides an apparatus for driving a target model with an expandable data glove, the apparatus comprising: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line; the at least one processor invokes the instructions in the memory to cause the data glove to perform a method of an extensible data glove driven object model according to the first aspect and any one of the possible implementations of the invention.
A fourth aspect of the present invention provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of the extensible data glove driving object model described above.
The invention provides a method for driving a target model by using an extensible data glove and a related device, wherein the method comprises the following steps: acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model; obtaining model characteristics corresponding to a hand model to be driven, and calculating a conversion relation between the general hand data model and the hand model to be driven; and converting the data glove data model data into the hand model data to be driven according to the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the general hand data model and the hand model to be driven. Since the data model of each data glove comprises the hand model to be driven, the general hand data model can be converted into the hand model to be driven according to the conversion relation between the data model of each data glove and the general hand data model. No matter which manufacturer produces the hand model to be driven, the hand model can be converted according to the general hand data model, if a data glove is used for development, the hand model can be developed again without redevelopment, so that the time can be saved, and the cost waste can be reduced.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for driving a target model by an extensible data glove in an embodiment of the present invention;
FIG. 2 is a schematic view of the joint local coordinate system definition and initial pose of a data glove in an embodiment of the present invention;
FIG. 3 is a diagram of a hand joint structure of a generic hand data model according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a hand joint local coordinate system of a hand data model according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating an example of an initial pose of an index finger in a hand data model in an embodiment of the present invention;
FIG. 6 is a diagram illustrating a transformation relationship according to an embodiment of the present invention;
FIG. 7 is a functional block diagram of an apparatus for driving a target model with an extensible data glove in accordance with an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an apparatus for driving a target model by an extensible data glove in an 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 term "and/or" appearing in the present application may be an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this application generally indicates that the former and latter related objects are in an "or" relationship.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
At present, aiming at the data gloves with various brands and various working principles on the current market, the problem that basic data models corresponding to the data gloves are inconsistent exists, the data gloves produced by various manufacturers have specific drivable hand data models for products at home, and in application and development, after one data glove is used for development, if the data glove is replaced by a new data glove, the data glove needs to be developed again, so that the problem of time and cost waste is caused.
For convenience of understanding, a specific flow of the method for driving the target model by the extensible data glove according to the embodiment of the present invention is described below, and referring to fig. 1, the method for driving the target model by the extensible data glove according to the embodiment of the present invention includes:
101. and acquiring the data model and the general hand data model of each data glove, and acquiring the conversion relation between the data model and the general hand data model of each data glove.
Since each data glove (including but not limited to inertial gloves, optical mark point gloves) manufacturer has its own definition of specific drivable hand data model, model each joint point coordinate system and initial pose for its own products. The meaning of this initial pose is: and the hand gesture when the rotation values of the local coordinate systems defined at the joints are all (0, 0, 0). Note: this is a representation of the euler angle of rotation. Therefore, in the application development, after one kind of data gloves is used for development, if the gloves are replaced with new data gloves, the gloves need to be developed again, and the problem of waste of time and cost is caused.
Exemplarily, please refer to fig. 2, fig. 2 is a schematic diagram of joint local coordinate system definition and initial pose of a data glove provided by the present invention.
According to a Software Development Kit (SDK) and an Application Programming Interface (API) provided by a data glove manufacturer corresponding to fig. 2, rotation data of each joint, which is a rotation value performed on the basis of an initial posture, can be acquired. If the initial posture of the hand data model is used, the situation that the posture of the model does not accord with the actual posture can be generated if the rotation data at the moment is directly used on the premise that the initial posture determined by the data glove is not real.
Therefore, we first need to define a generic hand data model. The universal hand data model includes a hand joint structure, local coordinate systems of respective joints in the hand joint structure, and initial poses of the respective hand joint structures.
The skeleton structure of a real human hand is simulated, and the joint structure of a universal hand data model is specified. Referring to fig. 3, fig. 3 is an example of a right hand, and the hand joint structure includes: 1 wrist joint (wrist), 5 carpometacarpal joints (thumb0, index0, midle 0, ring0, pinky0), 5 metacarpophalangeal joints (thumb1, index1, midle 1, ring1, pinky1) and 9 interphalangeal joints (thumb2, index2, index3, midle 2, midle 3, ring2, ring3, pinky2, pinky 3). Wherein, the wrist joint (wrist) and 5 carpometacarpal joints (thumb0, index0, midle 0, ring0 and pinky0) are at the same position. The 5 carpometacarpal joints are all the sub-joint points of the wrist joint.
We define a global coordinate system for the hand data model, see fig. 4, where fig. 4 provides a hand joint local coordinate system for the hand data model. The local coordinate system of each wrist joint and each finger joint is defined at the joint of the starting joint of each skeleton, and each skeleton of the hand is positioned on the positive half axis of the Z axis of the local coordinate system. The initial posture of the universal hand data is a straight line, namely, each skeleton is on a Z-axis positive half shaft of a world coordinate system, and the fingers and the back of the palm face to the Y-axis positive direction. Please refer to fig. 5, which illustrates the initial posture of the index finger. In this fig. 5, the skeletal orientation of each finger joint of the index finger is on the positive half axis of the Z-axis of the world coordinate system and forms a straight line.
Then said obtaining a generic hand data model comprises:
acquiring a local coordinate system of each joint in the hand joint structure, wherein the local coordinate system of each joint takes the starting point of each joint as an origin, and the skeleton direction of each joint is on a positive half axis of a Z axis of the local coordinate system of each joint;
obtaining an initial pose of each hand joint structure, the initial pose of each hand joint structure comprising: the bone direction of each joint in each hand joint structure is on the positive half axis of the Z axis of the world coordinate system.
The obtaining the initial pose of each hand joint structure further comprises:
and acquiring the direction of the back of the hand as the positive direction of the Y axis of the world coordinate system.
And acquiring the conversion relation between the data model of each data glove and the general hand data model. Specifically, please refer to fig. 6. After the general hand data model is defined, the conversion relationship between the data model of the data glove and the general hand data model needs to be acquired.
For example, for one hand data model, the local coordinate system defined at the joint point j is XYZ, and at this joint, another local transformation coordinate system X ' Y ' Z ' is defined, that is, a local coordinate system having the same meaning as that of the general hand data model, when the corresponding joints of the two hand data models are in the same posture (where the same posture includes the same direction of the skeleton and the same orientation of the back of the hand/the back of the finger), a certain transformation relation R1 exists between the respective local coordinate systems of the two hand data models, and R1 is obtained, that is, the transformation relation between the two hand data models is obtained.
The conversion relationship between the local coordinate system of each joint as XYZ and the local conversion coordinate system X ' Y ' Z ' is calculated. For example, the degree of offset of the X ' Y ' Z ' coordinate system based on the X axis, the degree of offset of the X ' Y ' Z ' coordinate system based on the Y axis, and the degree of offset of the X ' Y ' Z ' coordinate system based on the Z axis may be calculated. Thereby determining the conversion relation between the data model of each data glove and the universal hand data model. The conversion relation between the data model of each data glove and the universal hand data model can be determined one by one. Therefore, the conversion relation between the data model of all the data gloves on the market and the universal hand data model can be determined.
The scheme can be suitable for conversion from the data model of each data glove to the general hand data model and also can be suitable for conversion from the general hand data model to the hand data model to be driven.
102. And acquiring model characteristics corresponding to the hand model to be driven, and acquiring a conversion relation between the general hand data model and the hand model to be driven.
And obtaining model characteristics corresponding to the hand model to be driven. The model features corresponding to the hand model to be driven may include global rotation transformation of joint local transformation coordinate systems of each joint in each hand joint structure in the hand model to be driven when the joint is in the same posture as the joint corresponding to the general hand data model. Illustratively, for example, a local coordinate system X "Y" Z "of a joint of the hand model to be driven, a joint local coordinate system X 'Y' Z 'corresponding to the general hand data model, when the joint of the hand data model to be driven and the corresponding joint of the general hand data model are in the same posture, the global rotation of the joint local coordinate system X" Y "Z" is transformed into R2, and the global rotation of the joint local coordinate system X' Y 'Z' corresponding to the general hand data model is transformed into R3, then the transformation relation R4 between the general hand data model and the hand model to be driven can be obtained through R2 and R3.
103. And converting the data of each data glove into the data of the hand model to be driven.
The data of the data gloves can be converted into the data of the hand model to be driven according to the conversion relation R1 between the data model of each data glove and the general hand data model and the conversion relation R4 between the general hand data model and the hand model to be driven.
The invention provides an extensible data glove driving target model method, which comprises the following steps: acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model; obtaining model characteristics corresponding to the hand model to be driven, and calculating a conversion relation between the general hand data model and the hand model to be driven; and converting the data of the universal hand data model into the data of the hand model to be driven according to the conversion relation between the data model of each data glove and the universal hand data model and the conversion relation between the universal hand data model and the hand model to be driven. No matter which manufacturer produces the data gloves, the data gloves can be obtained by conversion according to the universal hand data model, if one kind of data gloves are used for development, and if the gloves are replaced by new data gloves, the gloves do not need to be developed again, so that the time can be saved, and the cost waste can be reduced.
In the above description of the method for driving the target model by using the extensible data glove in the embodiment of the present invention, the following description of the modules in the embodiment of the present invention refers to fig. 7, and an embodiment of the module 20 in the embodiment of the present invention includes:
the first acquisition module 201 is used for acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model;
a second obtaining module 202, configured to obtain model features corresponding to a hand model to be driven, and calculate a conversion relationship between the general hand data model and the driving hand model;
and the processing module 203 is configured to convert the data model data of each data glove into the hand model data to be driven according to the conversion relationship between the data model of each data glove and the general hand data model and the conversion relationship between the general hand data model and the driving hand model.
The universal model hand joint structure includes: 1 wrist joint, 5 carpometacarpal joints, 5 metacarpophalangeal joints, and 9 interphalangeal joints,
the data model of each data glove comprises: each data glove hand joint structure, a local coordinate system of each joint in the data glove hand joint structure, and an initial pose of the data glove hand joint structure.
The data model of the model to be driven comprises: the hand joint structure of the model to be driven comprises a hand joint structure of the model to be driven, a local coordinate system of each joint in the hand joint structure of the model to be driven, and an initial posture of the hand joint structure of the model to be driven.
The first obtaining module 201 is specifically configured to, when the data model of each data glove and the corresponding joint in the general hand data model are in the same posture, obtain global rotation data of a local coordinate system of a joint in the hand joint structure of each data glove, and obtain global rotation data of a local coordinate system of a corresponding joint in the general hand data model;
and acquiring the conversion relation between the data model of each data glove and the universal hand data model according to the global rotation data of the corresponding joint local coordinate system in the hand joint structures of each data glove and the universal hand data model.
The second obtaining module 202 is specifically configured to, when the universal hand data model and the corresponding joint in the hand model to be driven are in the same posture, obtain global rotation data of a local coordinate system of a joint in a hand joint structure of the universal hand data model, and obtain global rotation data of a local coordinate system of a corresponding joint in the hand model to be driven;
and acquiring the conversion relation between the general hand data model and the hand model to be driven according to the general hand data model and the global rotation data of the corresponding joint local coordinate system in the hand joint structure of the hand model to be driven.
The processing module 203 is configured to convert the general hand data model into the hand model to be driven according to a conversion relationship between the data glove data models and the general hand data model and a conversion relationship between the general hand data model and the hand data model to be driven.
Fig. 7 above describes the method in the embodiment of the present invention in detail from the perspective of a modular functional entity, and the extensible data glove driving object model method and the storage medium in the embodiment of the present invention are described in detail from the perspective of hardware processing.
Fig. 8 is a schematic structural diagram of an apparatus 300 for an extensible data glove driving target model according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 310 (e.g., one or more processors) and a memory 320, and one or more storage media 330 (e.g., one or more mass storage devices) storing applications 333 or data 332. Memory 320 and storage media 330 may be, among other things, transient or persistent storage. The program stored on storage medium 330 may include one or more modules (not shown), each of which may include a series of instructions operating on data glove 300. Further, the processor 310 may be configured to communicate with the storage medium 330 to execute a series of instruction operations in the storage medium 330 on the data glove 300.
The device 300 for an extensible data glove driven object model may also include one or more power supplies 340, one or more wired or wireless network interfaces 330, one or more input-output interfaces 360, and/or one or more operating systems 331, such as Wimdows Server, Nmc OS X, Umix, Limux, FreeBSD, and the like. Those skilled in the art will appreciate that the configuration of the apparatus of the extensible data glove driving goal model illustrated in fig. 7 does not constitute a limitation on the apparatus of the extensible data glove driving goal model, and may include more or fewer components than those illustrated, or some components in combination, or a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, which may also be a volatile computer readable storage medium, having stored therein instructions, which when run on a computer, cause the computer to perform the steps of the method of the expandable data glove driving object model.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a rom (rom), a random access memory (RMN), a magnetic disk, and an optical disk.
In the examples provided herein, it is to be understood that the disclosed methods may be practiced otherwise than as specifically described without departing from the spirit and scope of the present application. The present embodiment is an exemplary example only, and should not be taken as limiting, and the specific disclosure should not be taken as limiting the purpose of the application. For example, some features may be omitted, or not performed.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
The method, the device and the storage medium for driving the target model by the extensible data glove provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the 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. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of an extensible data glove driven object model, the method of the data glove driven object model comprising:
acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model;
obtaining model characteristics corresponding to a hand model to be driven, and calculating a conversion relation between the general hand data model and the hand model to be driven;
and converting the data glove data model data into the hand model data to be driven according to the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the general hand data model and the hand model to be driven.
2. The method of an extensible data glove-driven object model according to claim 1, wherein the generic hand data model comprises: a universal model hand joint structure, a local coordinate system of each joint in the universal model hand joint structure, and an initial pose of the universal model hand joint structure,
the universal model hand joint structure includes: 1 wrist joint, 5 carpometacarpal joints, 5 metacarpophalangeal joints, and 9 interphalangeal joints,
the acquiring a universal hand data model comprises:
acquiring a local coordinate system of each joint in the joint structure of the hand part of the general model, wherein the local coordinate system of each joint of the general model takes the starting point of each joint as an origin, and the skeleton direction of each joint is on a positive half axis of a Z axis of the local coordinate system of each joint;
obtaining an initial pose of the generic model hand joint structure, the initial pose of the generic model hand joint structure comprising: the bone orientation of each joint in the universal model hand joint structure is on the positive semi-axis of the Z-axis of the world coordinate system.
3. The method of an extensible data glove-driven object model according to claim 2, wherein the generic hand data model further comprises: the back of the hand of the general model is oriented,
the obtaining the initial pose of the universal model hand joint structure further comprises:
and acquiring the direction of the back of the hand as the positive direction of the Y axis of the world coordinate system.
4. The method of an extensible data glove-driven object model according to claim 1, wherein the data model of each data glove comprises: each data glove hand joint structure, a local coordinate system of each joint in the data glove hand joint structure, and an initial pose of the data glove hand joint structure.
5. The extensible data glove driven object model method of claim 1, wherein the data model of the model to be driven comprises: the hand joint structure of the model to be driven comprises a hand joint structure of the model to be driven, a local coordinate system of each joint in the hand joint structure of the model to be driven, and an initial posture of the hand joint structure of the model to be driven.
6. The method of the extensible data glove driving target model according to any of claims 1 to 5, wherein the obtaining a conversion relationship between the data model of each data glove and the generic hand data model comprises:
when the data model of each data glove and the corresponding joint in the general hand data model are in the same posture, acquiring global rotation data of a joint local coordinate system in the hand joint structure of each data glove and acquiring global rotation data of a corresponding joint local coordinate system in the general hand data model;
and acquiring the conversion relation between the data model of each data glove and the universal hand data model according to the global rotation data of the corresponding joint local coordinate system in the hand joint structures of each data glove and the universal hand data model.
7. The method of an extensible data glove driving objective model according to any of claims 1 to 5, wherein the calculating a conversion relationship between the generic hand data model and the to-be-driven hand model comprises:
when the joints corresponding to the general hand data model and the hand model to be driven are in the same posture, acquiring global rotation data of a joint local coordinate system in a hand joint structure of the general hand data model and acquiring global rotation data of a corresponding joint local coordinate system in the hand model to be driven;
and acquiring the conversion relation between the general hand data model and the hand model to be driven according to the general hand data model and the global rotation data of the corresponding joint local coordinate system in the hand joint structure of the hand model to be driven.
8. The method of any one of claims 1 to 5, wherein the converting the data glove data model into the hand model data to be driven according to the conversion relationship between the data model of each data glove and the general hand data model and the conversion relationship between the general hand data model and the hand model to be driven comprises:
and acquiring the conversion relation between the hand model to be driven and each data glove data model from the conversion relation between the data model of each data glove and the general hand data model and the conversion relation between the hand model to be driven and the general hand data model.
9. An apparatus for driving an object model with an extensible data glove, the apparatus comprising:
the first acquisition module is used for acquiring a general hand data model and acquiring a conversion relation between the data model of each data glove and the general hand data model;
the second acquisition module is used for acquiring model characteristics corresponding to the hand model to be driven and calculating a conversion relation between the general hand data model and the hand model to be driven;
and the processing module is used for converting the universal hand data model into the hand model to be driven according to the conversion relation between the data glove data models and the universal hand data model and the conversion relation between the universal hand data model and the hand data model to be driven.
10. An apparatus for driving an object model with an extensible data glove, the apparatus comprising: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line;
the at least one processor invokes the instructions in the memory to cause the data glove to perform the method of the extensible data glove driving object model of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110381247.2A CN113190112A (en) | 2021-04-08 | 2021-04-08 | Method for driving target model by extensible data glove and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110381247.2A CN113190112A (en) | 2021-04-08 | 2021-04-08 | Method for driving target model by extensible data glove and related device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113190112A true CN113190112A (en) | 2021-07-30 |
Family
ID=76975219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110381247.2A Pending CN113190112A (en) | 2021-04-08 | 2021-04-08 | Method for driving target model by extensible data glove and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113190112A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101579238A (en) * | 2009-06-15 | 2009-11-18 | 吴健康 | Human motion capture three dimensional playback system and method thereof |
| CN108762495A (en) * | 2018-05-18 | 2018-11-06 | 深圳大学 | The virtual reality driving method and virtual reality system captured based on arm action |
| CN109102572A (en) * | 2018-07-27 | 2018-12-28 | 国网江苏省电力有限公司常州供电分公司 | Power transformation emulates virtual hand bone ratio in VR system and estimates method |
| CN109785416A (en) * | 2018-12-18 | 2019-05-21 | 武汉西山艺创文化有限公司 | A kind of three-dimensional motion capture system and method |
-
2021
- 2021-04-08 CN CN202110381247.2A patent/CN113190112A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101579238A (en) * | 2009-06-15 | 2009-11-18 | 吴健康 | Human motion capture three dimensional playback system and method thereof |
| CN108762495A (en) * | 2018-05-18 | 2018-11-06 | 深圳大学 | The virtual reality driving method and virtual reality system captured based on arm action |
| CN109102572A (en) * | 2018-07-27 | 2018-12-28 | 国网江苏省电力有限公司常州供电分公司 | Power transformation emulates virtual hand bone ratio in VR system and estimates method |
| CN109785416A (en) * | 2018-12-18 | 2019-05-21 | 武汉西山艺创文化有限公司 | A kind of three-dimensional motion capture system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108762495B (en) | Virtual reality driving method based on arm motion capture and virtual reality system | |
| US11481029B2 (en) | Method for tracking hand pose and electronic device thereof | |
| Fang et al. | A robotic hand-arm teleoperation system using human arm/hand with a novel data glove | |
| JPS6297012A (en) | Robot teaching device | |
| Taunyazov et al. | A novel low-cost 4-DOF wireless human arm motion tracker | |
| CN113119104A (en) | Mechanical arm control method, mechanical arm control device, computing equipment and system | |
| Hilman et al. | Virtual hand: VR hand controller using IMU and flex sensor | |
| Mower et al. | ROS-PyBullet Interface: A framework for reliable contact simulation and human-robot interaction | |
| Abbate et al. | Development of a MEMS based wearable motion capture system | |
| CN115919250A (en) | Human dynamic joint angle measuring system | |
| CN113190112A (en) | Method for driving target model by extensible data glove and related device | |
| Fang et al. | A novel data glove for fingers motion capture using inertial and magnetic measurement units | |
| Katusin | Glove for Augmented and Virtual Reality | |
| WO2022176928A1 (en) | Teaching device | |
| CN114756130A (en) | Hand virtual-real interaction system | |
| CN108073283A (en) | The computational methods and gloves of hand joint | |
| Tominaga et al. | Symbolic representation of trajectories for skill generation | |
| CN109003300A (en) | A kind of virtual reality system based on mass center of human body displacement computational algorithm | |
| CN110209270B (en) | Data glove, data glove system, correction method and storage medium | |
| Henderson | An inertial measurement system for hand and finger tracking | |
| Prayudi et al. | Implementation of an inertial measurement unit based motion capture system | |
| Ehlers et al. | Self-scaling Kinematic Hand Skeleton for Real-time 3D Hand-finger Pose Estimation. | |
| Widagdo et al. | Limb motion tracking with inertial measurement units | |
| Lobo et al. | Inertouchhand system-ith-demonstration of a glove device with distributed inertial sensors and vibro-tactile feedback | |
| Qian et al. | DH Parameter Method-based Wearable Motion Tracking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210730 |