JP3417680B2 - Posture processing device for CG model - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention models a link mechanism object composed of links and joints, such as a human body or an animal, inside a computer and visualizes it by CG (computer graphics). The type and geometrical information of the joint parts output from the puppet made by connecting the joint parts having the link and the joint, the connection information, the variation amount of the joint, etc. are input to the posture processing means (computer), and the posture processing means The present invention relates to a posture processing device for performing posture setting of a CG model and displaying an image of the postured CG model on a display unit.

[0002]

2. Description of the Related Art The simplest method of giving a posture to a CG model including a link mechanism is to give a joint angle as a parameter directly to each joint. With this method, it is difficult for the designer to grasp the joint angle for realizing the desired posture, so it is essential to present the posture to the designer by presenting the CG image in which the posture of the CG model is changed according to the input. become.

Furthermore, in order to facilitate the input, the positions and orientations are given to a plurality of parts constituting the CG model,
There is a method of calculating the joint angle using the constraint condition of the link mechanism and setting the posture with less designation. CG of human body
Taking the posture of the model as an example, this is done under the condition that the positions and orientations of palms, legs, torso, etc. are specified, and those positions and orientations are fixed and the node (joint) distance is constant. , Is equivalent to finding each joint angle (solving the inverse problem of the link mechanism). The position of the part is specified by using a pointing device such as a three-dimensional mouse, but it is still necessary to provide the designer with a CG image-based posture information feed bag.

[0004]

The above-mentioned conventional method has a problem that the designer cannot intuitively grasp the posture of the model. In order to confirm the 3D posture of the model, the viewpoint positions are set at multiple points C
You have to create a G image. In addition, when a pointing device is used to specify the posture, only some parts or joints can be operated at a time, which causes a problem of interrupting the designer's thinking. Since the conventional method is far from the usual modeling work of the designer, special knowledge and skill are required to set the posture of the CG model. The present invention was created in view of this point, and an object of the present invention is to provide a posture processing device for a CG model that can easily perform the posture of a CG model having links and joints. .

[0005]

FIG. 1 is a diagram for explaining the principle of the present invention. A posture processing apparatus for a CG model according to claim 1, comprising a display unit, a puppet created by connecting one or more joint parts having links and joints, and a posture processing means, The joint part has a sensor that indicates the amount of change of the joint, and the posture processing means generates a postured CG model based on the posture information and the CG model sent from the puppet, and is postured. The CG model image is displayed on the display unit.

A posture processing device for a CG model according to claim 2 is
In the CG model posture processing apparatus according to claim 1, each joint part has a joint part information storage unit that stores geometric information indicating a type of the joint part, a length and a shape of a link, and a communication unit. It is characterized by that.

A posture processing device for a CG model according to claim 3 is
The posture processing apparatus for a CG model according to claim 1 or 2, wherein the puppet is one or more joints.
1 of the joint parts row created by connecting the parts
It consists of one or more pieces and a base part connected to one end of each joint part row, and each joint part is a joint information or a sequence of joint information sent from the front joint part. To the joint information consisting of the type of joint part itself, geometric information and the amount of variation of the joint, and sending the sequence of the joined joint information to the rear joint part. The base part is composed of multiple joint parts. It is characterized in that the posture information including the sequence of joint information sent from the sequence and the connection position information of the joint part sequence and the base part is transmitted to the posture processing means.

A posture processing apparatus for a CG model according to claim 4 is
In the posture processing device of the CG model of claim 3, the posture and position of the puppet in the global coordinate system are measured by adding a position and posture sensor to the base parts.

A posture input device for a CG model according to claim 5 is
A puppet created by connecting a display unit, a joint information database that stores identification codes, types of joint parts, and geometric information in association with each other, and one or more joint parts that have links and joints. And a posture processing means, each joint part has a sensor indicating the amount of change of the joint, an identification code storage section storing its own identification code and a communication section, and the posture processing means is a joint part. When the posture information including the identification code of the joint part is received from the puppet, the type and the geometric information of the joint part are extracted from the joint information database based on the identification code, and the type, the geometric information and the posture information of the extracted joint part and the CG are extracted. Generate an oriented CG model based on the model, and use the oriented CG model It is characterized in that to display the image on the display unit.

According to a sixth aspect of the CG model posture processing apparatus,
The posture processing apparatus for a CG model according to claim 5, wherein the puppet has one or more joint part rows created by connecting one or more joint parts and one joint part row. It is composed of a base part connected to the end, and each joint part uses the joint information or the sequence of joint information sent from the joint part in front of itself.
It is connected to the joint information consisting of the identification code of the part and the amount of change of the joint, and the sequence of the combined joint information is sent to the rear joint part, and the base part is the joint sent from multiple joint part strings. It is characterized in that the posture information including the arrangement of information and the connection position information of the joint parts sequence and the base parts is sent to the posture processing means.

A posture processing apparatus for a CG model according to claim 7 is
In the posture processing device of the CG model according to claim 6, the posture and position of the puppet in the global coordinate system are measured by adding a position and posture sensor to the base parts.

[0012]

The puppet is made by connecting a plurality of joint parts and a base part, as shown in FIG. 1 (b). The joint parts include, for example, a rotary joint type and a direct acting joint type. The joint part is composed of one joint and two links.

The joint part J3 sends joint information including its own joint part type, link length, and joint variation amount to the joint part J2. Joint part J2 is joint part J
Add your own joint information to the joint information sent from 3 and add the added joint part J1
Send to. The joint part J1 is the joint information (J1 and J2) sent from the joint part J2.
Add your own joint information to () and send the added information to the base parts.

The base part adds the received joint information and information indicating the connection position of the joint part J1 and the base part, and sends the added information as posture information to the posture processing means. The attitude processing means includes the attitude information from the puppet and the attitude & from the position and attitude sensor.
The CG model is postured based on the position information, and the postured CG model is displayed on the display unit.

FIG. 2 shows the flow of CG model registration processing according to the present invention. When the designer touches the puppet directly to set the posture, the built-in sensor samples the joint angle and linear motion distance. Based on the sampling data, the joint angle and link length of the CG model in the CG model database are changed, a CG image is generated and presented to the designer. The designer sees the puppet in the real space and the CG image of the input result, and if OK, registers the posture data and ends the process. If NG, change the puppet's posture again.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 3 shows a CG model posture processing apparatus 1 according to the present invention.
This is an example. In the figure, 1 is a puppet, 2 is a position and orientation sensor, 3 is a data receiving unit, 4 is a link model generating unit, 5 is a posture generating unit, 6 is a model posture database,
7 is a model placement unit, 8 is a CG model database, 9
Indicates a CG image generation unit, and 10 indicates a CG image display unit, respectively.

The CG model may be human, animal, or mechanical parts as long as it is a link mechanism. Further, although the posture input model is called a puppet (doll) for convenience, it is not limited to a humanoid model. The attitude processing apparatus of the present invention includes a puppet 1 for model attitude input and a position and attitude sensor 2 for model position and attitude measurement.
A data receiving unit 3, a link model generating unit 4, a posture generating unit 5, a model posture database 6, a model arranging unit 7, a CG model database 8, a CG image generating unit 9, and a CG image. The display unit 10 is included.

As shown in FIG. 5, the puppet 1 has one base part 1-A and a plurality of joint parts 1-.
It consists of B. As shown in FIG. 4, each joint
The part 1-B includes a connecting portion 1-BA and a connecting portion 1-B-
B, link 1-BC, link 1-BD, joint 1-BE, sensor 1-BF, communication unit 1-BG
And a joint / parts information storage unit 1-B-H.

The connecting portions 1-B-A and 1-BB are connectors for physically connecting with other joint parts and also serve as a communication path of the communication portion 1-BG. Joint 1-B
-E connects the links 1-B-C and 1-B-D, and rotates to change the geometric position between the links. Sensor 1-
BF measures the amount of change in joint 1-BE, and uses link 1
Outputs the geometrical positional relationship between -B-C and 1-B-D.

Joint / parts information storage unit 1-B-H
Is the type of joint part 1-B and link 1-B
It stores geometric data such as length and shape of -C and 1-B-D. The communication unit 1-B-G includes the connection unit 1-B-A and 1-
The joint information including the output of the sensor 1-BF, the geometric information, and the connection relationship is communicated between the parts connected by BB.

There are two types of joints 1-BE, a rotary joint and a direct acting joint. Corresponding to these, a rotational angle sensor and a direct acting distance sensor are also selected for the sensor 1-BF. Figure 4 (A)
Shows a rotary joint type joint part, and FIG. 4 (B) shows a direct acting joint type joint part.

FIG. 5 shows an example of the structure of the base parts. The base part 1-A includes a plurality of connecting portions 1-A-A (1)-
1-AA (n) and joint information receiving unit 1-AB
And an attitude information communication unit 1-A-C and a base parts information storage unit 1-A-D. The base part 1-A of FIG. 5 has five connecting parts. Connection 1
-AA (i) (i is 1, 2, ..., N) is a connection part 1-BA (or 1-B-) of the corresponding joint part.
It connects with B) to form a puppet geometrically and a communication path with joint parts.

The joint information receiving section 1-A-B includes a plurality of joint parts 1-B (1) to 1-A-A (1) to 1-A-A (5). From (5), receive joint information of all joints connected to each destination. A connection part that does not transmit joint information is considered to have no joint parts to connect.

The base / parts information storage section 1-A-D
It stores geometrical data indicating the positional relationship between the connecting portions 1-AA (1) to 1-AA (5). Posture information transmitter 1-A-
C sends the above geometric data and all joint information.

FIG. 6 shows the base parts 1-A and the base parts.
Joints from the 1-AA (j) side of the connecting part of parts
A part of the puppet 1 in which parts 1-B (1), 1-B (2) and 1-B (3) are combined is shown. In the figure, op-xp
-Yp is a puppet coordinate system fixed to the base part. Here, the coordinate system is two-dimensional for simplification of description, but the same applies to three-dimensional. Joint·
Part 1-B (1) is a rotary type, joint part 1-B (2) is a direct acting type, joint part 1-B
(3) is a rotary type.

In the illustrated example, the joint part (1) has link lengths la1 and lb1 as geometric information in the joint information storage, and the joint part (2) has link lengths la2 and lb2 in the joint information storage. As information, the joint part (3) has link lengths la3 and lb3 as geometric information in the joint information storage unit. The sensor of the joint part (1) measures the rotation angle θ1 and
The sensor of the part (2) measures the linear movement distance d2, and the sensor of the joint part (3) measures the rotation angle θ3. The above-mentioned geometric information and measurement results are joint parts 1
-B (3) → 1-B (2) → 1-B (1) is transmitted to the base part 1-A. Base parts information storage 1
-A-D is the coordinates (xj, y) of the connecting portion 1-A-A (j).
j) is stored. In the illustrated example, j is 1, 2, 3,
4 and 5.

The posture information transmitting section 1-A-C
Measurement result, coordinate value of connection part, connection relation (connection part 1-A-A
(j) → Joint parts 1-B (1) → 1-B (2) → 1
-B (3)) is transmitted to the data receiving unit 3.

The position and orientation sensor 2 has a measurement reference coordinate system os.
The position and inclination of the puppet coordinate system with respect to -xs-ys are measured and transmitted to the data receiving unit 3. For the measurement, the puppet coordinate origin on the base part 1-A is fixed to the probe tip of the contact type three-dimensional coordinate measuring device, or a non-contact position sensor using magnetism (eg Poimas sensor) is used as the base part 1. -It is done by adding to A.

The data receiving section 3 receives the information sent from the puppet 1 and the information sent from the position and orientation sensor 2 by wire or wirelessly. Then, the type of joint parts, the geometric data and the connection relation used are sent to the link model generation unit 4, the joint displacement data of the joint parts are sent to the posture generation unit 5, and the puppet coordinates from the position and posture sensor 2 are sent. Data indicating the position and inclination of the system is sent to the model placement unit 7.

The link model generation unit 4 operates when the system is started up and when the parts of the puppet 1 are reconnected, and shows the phase representing the connection relationship between the links and the length of each link. Generate a link model that represents a geometric relationship. In addition, a CG model for making a pause is called from the CG model database 8 and each part constituting the CG model is associated with a link model.
The simplest method of realizing this association is one-to-one designation input by the designer.

For example, when the joint parts are connected as shown in FIG. 6, a link model as shown in FIG. 7 is generated, and a corresponding CG model is formed by an ellipsoidal set of P1, P2 and P3 including each link. Assume that it is configured.
P0 is a CG model part corresponding to a base part, and Om-Xm-Ym fixed to P0 is used as a CG model coordinate system. In the following description, the scale of the puppet coordinate system and the CG model coordinate system is set to 1: 1 so that the coordinates of the P1 base portion (square portion) are represented by (xj, yj). The length of the major axis of the ellipsoid including the linear joint is variable.

The posture generator 5 calculates the node position of the link model from the joint displacement data of the joint parts. When the puppet 1 is operated in the state of FIG. 6, since the joint displacement data are θ1, d2, θ3, each node N0,
Position coordinate vector N0, N1, N of N1, N2, N3
2, N3 are calculated by the following equation in the CG model coordinate system.

[0033]

[Equation 1]

[0034]

[Equation 2]

[0035]

[Equation 3]

[0036]

[Equation 4]

A link model is placed at the node position calculated by the above equation, and P1 and P are placed at positions corresponding to the link.
By arranging 2 and P3 in the CG model coordinate system space, the posture of the puppet on the puppet coordinate system can be reproduced using the CG model in the CG model coordinate system. The above calculation result is C
The posture of the G model is registered in the model posture database 6.

The model placement unit 7 receives the position (α, β) of the puppet coordinate system in the measurement reference coordinate system from the data receiving unit 3.
And the inclination γ are input, and the CG model is arranged on the CG space coordinate system Og-Xg-Yg. The scale of the CG space coordinate system and the measurement reference coordinate system is set to 1: 1 to simplify the processing, and the position and inclination of the puppet coordinate system with respect to the measurement coordinate system and the CG
The position and the inclination of the CG model coordinate system in the spatial coordinate system are set to be equal. At this time, the model placement unit 7
Arranges the CG model in the CG space as shown in FIG.

The CG image generation unit 9 sets the viewpoint and the line-of-sight direction in the CG space according to the designer's designation, and refers to the drawing data such as the color of the CG model in the CG model database 8 while referring to the ray An image of a CG model is created using a general CG technique such as racing.
The drawn image is presented to the designer by the CG image display unit 10.

FIG. 9 shows another embodiment of the present invention. In the figure, 11 indicates a joint information database. The same reference numerals as those in FIG. 2 indicate the same items. In the embodiment of FIG. 2, the data such as the link length is stored in the joint / parts information storage unit 1-B-H for each joint / part, but the joint information storage unit 1-B-H is used to identify the joint / parts. It may be replaced with a code storage unit, and further, a joint information database 11 may be installed, and when the link model generation unit 4 needs joint information, a data search may be performed using the joint part identification code as a key.

[0041]

As is apparent from the above description, according to the present invention, in order for the designer to pose the CG model, he or she may directly pose the puppet with his / her hands, which is intuitive. You can do the work. Since the puppet is constructed by connecting joint parts, it is possible to construct an appropriate puppet by selecting the joint parts according to the target CG model. Furthermore, by using a plurality of posture processing apparatuses of the present invention, it is possible to simultaneously perform posture setting for a plurality of CG models.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a diagram showing a flow of CG model registration processing according to the present invention.

FIG. 3 is a diagram showing an embodiment of a CG model posture processing device of the present invention.

FIG. 4 is a diagram showing a configuration example of a joint part in the present invention.

FIG. 5 is a diagram showing a configuration example of a base part in the present invention.

FIG. 6 is a diagram showing a joint connection (a part) and a puppet coordinate system.

FIG. 7 is a diagram showing association between a link model (a part) and a CG model.

FIG. 8 is a diagram showing correspondence of coordinate systems.

FIG. 9 is a diagram showing another embodiment of the CG model posture processing apparatus of the present invention.

[Explanation of symbols]

1 puppet 2 Position and orientation sensor 3 Data receiver 4 Link model generator 5 Posture generation unit 6 model posture database 7 Model placement section 8 CG model database 9 CG image generator 10 CG image display section 11 Joint information database

Claims (7)

(57) [Claims] 1. A display unit, a puppet created by connecting one or more joint parts having links and joints, and a posture processing means, and each joint part is a joint part. The attitude processing means has a sensor indicating the amount of fluctuation, and the attitude processing means generates an attitude-oriented CG model based on the attitude information and the CG model sent from the puppet, and displays an image of the attitude-oriented CG model on the display unit. A posture processing apparatus for a CG model, which is displayed on the screen. 2. Each joint part is a joint
The posture processing apparatus for a CG model according to claim 1, further comprising a joint / parts information storage unit that stores geometrical information indicating a type of a part, a length and a shape of a link, and a communication unit. 3. The puppet has one or more joint part rows created by connecting one or more joint parts and one joint part row.
It is composed of a base part connected to the end, and each joint part uses the joint information or the sequence of joint information sent from the front joint part, the type of its own joint part, geometric information and It is combined with joint information consisting of the amount of change of joints, and the sequence of the combined joint information is sent to the rear joint part, and the base part is the sequence of joint information sent from multiple joint part strings, joint The posture processing device for a CG model according to claim 1 or 2, wherein posture information including connection position information of the parts row and the base parts is sent to the posture processing means. 4. The posture processing device for a CG model according to claim 3, wherein the posture and position of the puppet in the global coordinate system are measured by adding a position and posture sensor to the base part. 5. A display unit, a joint information database that stores the identification code, the type of joint part, and geometric information in association with each other, and one or more joint parts having links and joints. And a posture processing means, each joint part is a sensor that indicates the amount of fluctuation of the joint,
When the posture processing means receives posture information including the joint part identification code from the puppet, the posture processing means has a joint information database based on the identification code.・ Part types and geometric information are extracted, and the types of joint parts extracted, geometric information and posture information, and C
A posture processing apparatus for a CG model, which generates a postured CG model based on a G model and displays an image of the postured CG model on a display unit. 6. The puppet has one or more joint part rows produced by connecting one or more joint parts and one joint part row.
It is composed of a base part connected to the end, and each joint part has the joint information sent from the front joint part or the sequence of joint information, the identification code of its own joint part and the joint It is combined with joint information consisting of fluctuation amount, and the combined joint information sequence is sent to the rear joint part, and the base part is the joint information sequence sent from multiple joint part strings, joint part The attitude processing apparatus for a CG model according to claim 5, wherein attitude information including connection position information of the row and the base parts is sent to the attitude processing means. 7. The posture processing apparatus for a CG model according to claim 6, wherein the posture and position of the puppet in the global coordinate system are measured by adding a position and posture sensor to the base parts.