JP4536095B2 - Image processing program, image processing apparatus, and image processing control method - Google Patents

Description

  The present invention relates to an image processing program, and more particularly to an image processing program executed by a computer capable of processing data for displaying an object on an image display unit. The present invention also relates to an image processing apparatus that can execute the image processing program, and an image processing control method that is controlled by a computer based on the image processing program.

  Conventionally, various video games have been proposed. These video games are executed in a game device. For example, a general game device has a monitor, a game machine main body separate from the monitor, and an input device such as a controller separate from the game machine main body. The controller has a plurality of input buttons.

  As one of video games realized in such a game device, for example, a baseball game is known (see Non-Patent Document 1). In this baseball game, the state in which the player character operates is displayed on the monitor.

Here, the motion data of the player character is used to display the motion of the player character on the monitor. The player character motion data is data prepared in advance and is stored in the storage unit when the game program is loaded. The motion data stored in the storage unit is generally generated in advance by motion capture.
The motion capture shown here is a technique for acquiring the action of the actor as digital data by having the actor actually perform the action. Specifically, a marker called a marker, for example, a small white sphere is attached to the actor's joint or the vicinity of the joint. In this state, the actor's performance is photographed by a plurality of cameras (generally about three to six cameras) arranged so as to surround the actor. The position of the marker is tracked by using a plurality of moving images taken here, and the three-dimensional position coordinate data of the marker is obtained from the positional relationship of the markers displayed in each moving image. Then, the rotation angle of each joint is calculated from the three-dimensional position coordinate data of the marker, the body shape of the actor, and the positional relationship of the attached marker. By using such a motion capture technique, it is possible to acquire the actions of the actor as digital data.
For example, when an actor with a marker on the joint performs the same action as the action of the player character in the baseball game, digital data corresponding to the action of the player character can be acquired. Then, by correcting the digital data, motion data that can be used in the game can be generated.
Professional baseball spirits 4, Konami Digital Entertainment, PS3 version, April 1, 2007

  In a baseball game, it is necessary to prepare motion data of a player character in order to display the motion of the player character on a monitor.

  The motion data is generated by manually correcting the digital data acquired by the motion capture for each frame. Since the volume of motion data generated here (attitude data for all frames) is enormous, there is a problem that if this motion data is used directly in a game, the memory capacity of the game device is compressed. . For this reason, it is possible to reduce the capacity of motion data by manually selecting only posture data having a characteristic posture from posture data of all frames, and using a plurality of manually selected posture data as motion data. It has been broken. However, the operation of manually selecting only the posture data having a characteristic posture from the posture data of all frames has a problem that it requires a very large amount of labor and a great deal of time.

  In order to solve such a problem, in the present invention, motion data can be automatically selected, and the amount of data necessary for reproducing a moving image is reduced.

An image processing program according to claim 1 is a program for causing a computer capable of processing data for displaying an object on an image display unit to realize the following functions.
(1) The position of an element that rotates around a connecting portion in an object that includes a connecting portion for determining each of a plurality of postures of the object and connecting the plurality of elements and the plurality of elements to each other , stored in the storage portion Is a posture recognition data recognition function for causing the control portion to recognize posture determination data defined in the connecting portion .
(2) A first reference attitude determination data recognition function that causes the control unit to recognize any two attitude determination data of the plurality of attitude determination data as reference attitude determination data.
(3) A first reference posture determination data storage function that causes the control unit to execute processing for storing reference posture determination data in the storage unit.
(4) A correspondence data calculation function for causing the control unit to execute processing for calculating correspondence data corresponding to each of a plurality of posture determination data using the reference posture determination data.
(5) It is for prescribing an allowable range in which a difference between the attitude determination data and the corresponding data is allowed , and is arranged at the base of the object via at least one element and a connecting part arranged at the base of the object. The tolerance difference data is set so that the criterion for judging the difference between the posture determination data on the base side of the object and the corresponding data becomes stricter as the distance from the end portion connected to the connected portion increases. , Tolerance difference data recognition function that allows the control unit to recognize.
(6) By allowing the control unit to execute processing for comparing the attitude determination data and the corresponding data corresponding to the attitude determination data, an allowable range in which the difference between the attitude determination data and the corresponding data corresponds to the allowable difference data A data difference discrimination function that makes the control unit discriminate whether or not it is within.
(7) When the controller determines that the difference between the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is used as the reference attitude described above. A second reference posture determination data recognition function that causes the control unit to recognize the reference posture determination data different from the determination data.
(8) A second reference posture determination data storage function that causes the control unit to execute processing for storing reference posture determination data different from the reference posture determination data in the storage unit.
(9) When the control unit determines that the difference between the posture determination data and the corresponding data is within the allowable range corresponding to the allowable difference data, all the reference posture determination data stored in the storage unit is controlled. Data recognition function for determining the third reference posture to be recognized by the unit.

In this image processing program, in the posture determination data recognition function, the posture determination data stored in the storage unit for determining each of the plurality of postures of the object is recognized by the control unit. This attitude determination data is for defining the position of an element that rotates around a connecting part in an object composed of a plurality of elements and a connecting part for connecting each of the plurality of elements, and is defined in the connecting part. Is done. In the first reference attitude determination data recognition function, any two of the plurality of attitude determination data are recognized by the control unit as reference attitude determination data. In the first reference posture determination data storage function, a process of storing the reference posture determination data in the storage unit is executed by the control unit.

In the correspondence data calculation function, a process of calculating correspondence data corresponding to each of the plurality of posture determination data using the reference posture determination data is executed by the control unit. In the permissible difference data recognition function, permissible difference data for defining a permissible range for allowing a difference between the posture determination data and the corresponding data is recognized by the control unit. As the distance between the connecting portion arranged at the base portion of the object and the terminal portion connected to the connecting portion arranged at the base portion of the object via at least one element increases, Allowable difference data is set such that the criterion for judging the difference between the posture determination data and the corresponding data becomes strict. In the data difference determination function, the difference between the posture determination data and the corresponding data is converted into the allowable difference data by causing the control unit to execute a process of comparing the posture determination data and the corresponding data corresponding to the posture determination data. It is determined by the control unit whether or not it is within the corresponding allowable range.

  In the second reference posture determination data recognition function, the posture having the largest difference when the difference between the posture determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data. The determination data is recognized by the control unit as reference posture determination data different from the reference posture determination data. In the second reference posture determination data storage function, a process of storing reference posture determination data different from the reference posture determination data in the storage unit is executed by the control unit. In the third reference posture determination data recognition function, when the control unit determines that the difference between the posture determination data and the corresponding data is within the allowable range corresponding to the allowable difference data, the data is stored in the storage unit. All reference posture determination data is recognized by the control unit.

  For example, consider a case in which motion data for a character in a game is processed by using this image processing program. The motion data (raw data) for the character generated by the motion capture is composed of posture data (image data for posture) indicating the posture of the character at each moment. For example, the posture indicated by the image data for posture is set using posture determination data, and the image data for posture is generated based on the posture determination data.

  First, a plurality of posture determination data stored in the storage unit are recognized by the control unit. Then, any two of the plurality of posture determination data are recognized by the control unit as reference posture determination data. These reference posture determination data are stored in the storage unit.

  Then, using the reference posture determination data stored in the storage unit, the corresponding data corresponding to each of the plurality of posture determination data is calculated by the control unit. Then, allowable difference data for defining an allowable range in which a difference between the posture determination data and the corresponding data is allowed is recognized by the control unit. Then, by comparing the attitude determination data and the corresponding data corresponding to the attitude determination data, whether or not the difference between the attitude determination data and the corresponding data is within an allowable range corresponding to the allowable difference data, Determined by the control unit.

  Then, when the control unit determines that the difference between the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is further determined as the reference attitude determination. It is recognized as control data by the control unit. Then, further reference posture determination data is stored in the storage unit. On the other hand, when the controller determines that the difference between the posture determination data and the corresponding data is within the allowable range corresponding to the allowable difference data, all the reference posture determination data stored in the storage unit are Recognized by the control unit.

  In this case, until the difference between the attitude determination data and the corresponding data falls within the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference (reference attitude determination data) is continuously stored in the storage unit. Stored. For this reason, when the difference between the posture determination data and the corresponding data falls within the allowable range, posture determination data (reference posture determination data) for determining a characteristic posture is selectively stored in the storage unit. Will be stored.

  Thus, according to the first aspect of the present invention, the data for posture reproduction is reduced by automatically storing the posture determination data in the storage unit based on the allowable difference data. can do.

Further, in this case, the position of the bone element that rotates around the joint portion in the character that includes the plurality of bone elements and the joint portions (connecting portions) for connecting each of the plurality of bone elements stored in the storage unit is determined. Attitude control data for defining is recognized by the control unit. Here, image data corresponding to a character including a plurality of bone elements and a joint portion (connecting portion) for connecting the bone elements to each other defines the position of the bone element rotating around the joint portion. Is generated based on the posture determination data. For this reason, by generating the image data corresponding to the character using the posture determination data for defining the position of the bone element rotating around the joint portion, it is possible to display a moving image having a plurality of postures of the character without a sense of incongruity. It can be displayed on the image display unit.

  In this case, posture determination data defined in the joint is recognized by the control unit. And the distance (inter-joint distance) between the joint part (reference joint part) arranged at the waist part (base part) of the character and the joint part connected to the joint part arranged at the waist part of the character via at least one bone element The permissible difference data according to is recognized by the control unit. For example, the control unit recognizes allowable difference data set so that the determination criterion based on the allowable difference data is different as the inter-joint distance increases with the reference joint portion of the character as a reference. More specifically, the control unit recognizes permissible difference data such that the criterion based on the permissible difference data becomes weaker as the inter-joint distance increases with the reference joint portion of the character as a reference.

  Here, permissible difference data is recognized by the control unit such that the criterion based on the permissible difference data becomes loose as the inter-joint distance increases with the reference joint portion of the character as a reference. In other words, the longer the length of the bone element connected to the reference joint, the more the tolerance difference data set so that the discrimination criterion based on the tolerance difference data in the joint on the lumbar side becomes stricter is recognized by the control unit. Is done. That is, as the length of the bone element connected to the reference joint portion is longer, the difference determination at the lumbar joint portion is performed more strictly. As described above, according to the present invention, accuracy in the vicinity of the main part of the character (accuracy in the vicinity of the waist) can be ensured.

  In general, the further away from the main part of the character, the stronger the connection part located away from the main part is affected by the error in the main part of the character. However, according to the present invention, since the accuracy in the vicinity of the main part of the character is ensured, it is possible to solve the problem that the error in the main part of the character is reflected as the error of the connecting part located away from the main part. it can.

  Furthermore, in this case, the longer the length of the bone element connected to the reference joint portion, the more severely the difference determination at the waist side joint portion is performed. As described above, according to the present invention, accuracy in the vicinity of the main part of the character (accuracy in the vicinity of the waist) can be ensured. In general, the further away from the main part of the character, the stronger the connection part at a position away from the main part is affected by the error in the main part of the character. However, according to the present invention, since the accuracy in the vicinity of the main part of the character is ensured, it is possible to solve the problem that the error in the main part of the character is reflected as the error of the connecting part located away from the main part. it can.

The image processing program according to claim 2, adjustment data for the image processing program according, to adjust the allowable difference data as discrimination criterion becomes severe at the base side of the object as the distance the increases in claim 1 Is set, and the control unit is caused to execute a process of setting the tolerance difference data and a process of multiplying the tolerance difference data by the adjustment data, so that the tolerance difference data is set. This function is realized in the allowable difference data recognition function.

  In this case, by using the adjustment data, the longer the length of the bone element connected to the reference joint portion is, the more severely the difference is determined at the waist side joint portion. As described above, according to the present invention, accuracy in the vicinity of the main part of the character (accuracy in the vicinity of the waist) can be ensured. In general, the further away from the main part of the character, the stronger the connection part at a position away from the main part is affected by the error in the main part of the character. However, according to the present invention, since the accuracy in the vicinity of the main part of the character is ensured, it is possible to solve the problem that the error in the main part of the character is reflected as the error of the connecting part located away from the main part. it can.

  An image processing program according to claim 3 is a program for causing a computer to further realize the following functions in the image processing program according to claim 1 or 2.

  In the correspondence data calculation function, a process of calculating correspondence data corresponding to each of the plurality of posture determination data by using the reference posture determination data is executed by the control unit. In the data difference determination function, the difference between the posture determination data and the corresponding data is determined as an allowable difference by causing the control unit to execute a process of calculating the difference between the posture determination data and the corresponding data corresponding to the posture determination data. The control unit determines whether the value is less than the allowable value corresponding to the data. In the second reference posture determination data recognition function, the posture having the maximum difference when the controller determines that the difference between the posture determination data and the corresponding data is greater than or equal to the allowable value corresponding to the allowable difference data. The determination data is recognized by the control unit as reference posture determination data different from the reference posture determination data. In the third reference posture determination data recognition function, when the control unit determines that the difference between the posture determination data and the corresponding data is less than the allowable value corresponding to the allowable difference data, all the reference posture determination data Data is recognized by the control unit.

  For example, when motion data for a character in a game is processed by using this image processing program, each of a plurality of posture determination data can be obtained by causing the control unit to perform interpolation processing based on the reference posture determination data. Correspondence data corresponding to is calculated. Then, by calculating the difference between the attitude determination data and the corresponding data corresponding to the attitude determination data, whether or not the difference between the attitude determination data and the corresponding data is less than the allowable value corresponding to the allowable difference data. Is determined by the control unit. Then, when the control unit determines that the difference between the attitude determination data and the corresponding data is equal to or larger than the allowable value corresponding to the allowable difference data, the attitude determination data with the maximum difference is further determined as the reference attitude determination. It is recognized as control data by the control unit. On the other hand, when the control unit determines that the difference between the posture determination data and the corresponding data is less than the allowable value corresponding to the allowable difference data, all the reference posture determination data is recognized by the control unit.

  In this case, correspondence data corresponding to each of the plurality of posture determination data is calculated by interpolation processing based on the reference posture determination data. Specifically, prediction data (corresponding data) corresponding to each of a plurality of posture determination data is calculated by interpolation processing based on the reference posture determination data at the time of capture. Then, until the difference between the attitude determination data and the predicted data becomes less than the allowable value corresponding to the allowable difference data, the attitude determination data (reference attitude determination data) having the maximum difference is continuously stored in the storage unit. Is done. Therefore, when the difference between the posture determination data and the predicted data is less than the allowable value, posture determination data (reference posture determination data) for determining a plurality of characteristic postures is selectively stored. Will be stored in the department.

Thus, in the invention according to claim 3 , by storing the posture determination data in the storage unit automatically and selectively based on the allowable difference data, the amount of data required for reproducing the moving image is reduced. can do.

  An image processing program according to claim 4 is a program for causing a computer to further realize the following functions in the image processing program according to any one of claims 1 to 3.

  In the posture determination data recognition function, posture control data for determining each of a plurality of postures of continuously changing objects stored in the storage unit is recognized by the control unit. In the first reference posture determination data recognition function, the first posture determination data and the last posture determination data among the plurality of posture determination data are recognized by the control unit as reference posture determination data. In the correspondence data calculation function, a process of calculating correspondence data corresponding to each of a plurality of posture determination data between the first posture determination data and the last posture determination data using the reference posture determination data. And executed by the control unit.

  For example, when motion data for a character in a game is processed by using this image processing program, it is used for posture determination for determining each of a plurality of continuously changing character postures stored in a storage unit. Data is recognized by the control unit. Then, the first posture determination data and the last posture determination data among the plurality of posture determination data are recognized by the control unit as reference posture determination data. Then, using the reference posture determination data recognized by the control unit, correspondence data corresponding to each of a plurality of posture determination data between the first posture determination data and the last posture determination data is Is calculated by

  In this case, using the first posture determination data and the last posture determination data among the plurality of posture determination data, a plurality of posture determinations between the first posture determination data and the last posture determination data Corresponding data corresponding to each of the business data is calculated by the control unit. Specifically, the correspondence data corresponding to each of the plurality of posture determination data between the first posture determination data and the last posture determination data is included in the first posture determination data and the last posture determination data. Calculated by based interpolation.

Thus, in the invention according to claim 4 , since the correspondence data is calculated by interpolation based on the first posture determination data and the last posture determination data, the first posture determination data The initial correspondence data corresponding to each of the plurality of posture determination data between the first posture determination data and the last posture determination data can be calculated with high accuracy.

An image processing program according to claim 5 is a program for causing a computer to further realize the following functions in the image processing program according to claims 1 to 4.
(10) An image data generation function for causing the control unit to execute processing for generating image data for object posture based on all reference posture determination data.
(11) A moving image display function for displaying a moving image including a plurality of postures of the object on the image display unit based on the image data for the posture of the object.

  In this image processing program, in the image data generation function, a process for generating image data for object orientation based on all reference orientation determination data is executed by the control unit. In the moving image display function, a moving image including a plurality of postures of the object is displayed on the image display unit based on the image data for the posture of the object.

  For example, when motion data for a character in a game is processed by using this image processing program, processing for generating image data for the character's posture based on all reference posture determination data is performed by the control unit. Executed. Then, based on the image data for the character posture, a moving image including a plurality of character postures is displayed on the image display unit.

As described above, in the invention according to claim 5 , posture image data can be generated based on selectively extracted posture determination data (reference posture determination data). Based on the above, it is possible to display a moving image composed of a plurality of postures of the character on the image display unit.

An image processing apparatus according to a sixth aspect is an apparatus capable of processing data for displaying an object on an image display unit. This device determines each of a plurality of postures of an object stored in a storage unit, and includes an element composed of a plurality of elements and a coupling unit for coupling each of the plurality of elements to each other. For determining the position, the attitude determination data recognizing means for causing the control section to recognize the attitude determination data defined in the connecting section, and any two attitude determinations among the plurality of attitude determination data First reference posture determination data recognition means for causing the control unit to recognize the data for use as reference posture determination data, and for the first reference posture determination to cause the control unit to execute processing for storing the reference posture determination data in the storage unit Correspondence to cause the control unit to execute processing for calculating correspondence data corresponding to each of a plurality of posture determination data using the data storage means and the reference posture determination data And over data calculating means is for defining the allowable range that allows the difference between the attitude determination data with corresponding data, and a connecting portion disposed at the base of the object, the object through at least one element As the distance from the terminal portion connected to the connecting portion arranged at the base portion increases, the discriminating criteria for judging the difference between the posture determination data on the base portion side of the object and the corresponding data becomes stricter. To allow the control unit to recognize the allowable difference data recognition means, and to cause the control unit to execute a process of comparing the posture determination data and the corresponding data corresponding to the posture determination data. A data difference determining means for causing the control unit to determine whether the difference from the data is within an allowable range corresponding to the allowable difference data; If the control unit determines that the difference between the data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the posture determination data having the maximum difference is different from the reference posture determination data. Second control posture determination data recognition means for causing the control unit to recognize as reference posture determination data, and causing the control unit to execute processing for storing reference posture determination data different from the reference posture determination data in the storage unit When the control unit determines that the difference between the second reference attitude determination data storage means and the attitude determination data and the corresponding data is within the allowable range corresponding to the allowable difference data, all the data stored in the storage unit Third reference posture determination data recognition means for causing the control unit to recognize the reference posture determination data.

An image processing control method according to a seventh aspect is a control method in which processing of data for displaying an object on an image display unit is controlled by a computer. In this control method, an element that is stored in a storage unit, determines each of a plurality of postures of an object, and rotates around a connecting unit in an object including a plurality of elements and a connecting unit for connecting each of the plurality of elements to each other. The posture determination data recognition step for causing the control unit to recognize the posture determination data defined in the connecting unit and any two postures of the plurality of posture determination data A first reference posture determination data recognition step for causing the control unit to recognize the determination data as reference posture determination data, and a first reference posture determination for causing the control unit to execute processing for storing the reference posture determination data in the storage unit A control unit that calculates the corresponding data corresponding to each of the plurality of posture determination data using the data storage step and the reference posture determination data Via a corresponding data calculating step to be executed is for defining the allowable range that allows the difference between the attitude determination data with corresponding data, and a connecting portion disposed at the base of the object, at least one element As the distance from the end part connected to the connecting part arranged at the base of the object becomes larger, the discriminant criterion for judging the difference between the attitude determination data on the base side of the object and the corresponding data becomes stricter. By setting the difference data and allowing the control unit to recognize the allowable difference data recognition step, and causing the control unit to execute processing for comparing the posture determination data and the corresponding data corresponding to the posture determination data, the posture determination data Data difference that allows the control unit to determine whether or not the difference between the corresponding data and the corresponding data is within the allowable range corresponding to the allowable difference data When the control unit determines that the difference between the different step and the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is determined as A second reference posture determination data recognition step for causing the control unit to recognize as reference posture determination data different from the posture determination data, and reference posture determination data different from the reference posture determination data are stored in the storage unit. When the control unit determines that the difference between the second reference posture determination data storage step for causing the control unit to execute the process and the difference between the posture determination data and the corresponding data is within an allowable range corresponding to the allowable difference data, A third reference posture determination data recognition step for causing the control unit to recognize all the reference posture determination data stored in the storage unit.

  In the present invention, until the difference between the attitude determination data and the corresponding data falls within the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is continuously stored in the storage unit. For this reason, when the difference between the posture determination data and the corresponding data falls within the allowable range, posture determination data for determining a plurality of characteristic postures is selectively stored in the storage unit. Become. As described above, in the present invention, the posture determination data can be automatically and selectively stored in the storage unit based on the allowable difference data. In addition, posture image data can be generated based on the selectively extracted posture determination data, and a video including a plurality of character postures is displayed on the image display unit based on the posture image data. can do. As described above, by selectively extracting the posture determination data, it is possible to reduce the amount of data necessary for reproducing the moving image, and to smoothly reproduce the character moving image.

[Configuration and operation of data processing apparatus]
FIG. 1 shows a basic configuration of a data processing apparatus for processing data. In the following, a configuration of a home computer is shown as an example of a data processing device. The home computer includes a home computer main body and a monitor. The home computer main body can be loaded with a recording medium 10, and a data processing program is appropriately read from the recording medium 10 and the data processing program is executed. When the data processing program is executed in this way, an image showing the contents related to the data processing is displayed on the monitor.

  The home computer includes a control unit 1, a storage unit 2, an image display unit 3, an audio output unit 4, an operation input unit 5, and a communication unit 23, which are connected via a bus 6. The The bus 6 includes an address bus, a data bus, a control bus, and the like. Here, the control unit 1, the storage unit 2, the audio output unit 4, and the operation input unit 5 are included in the home computer main body, and the image display unit 3 is included in the monitor.

  The control unit 1 mainly controls the progress of data processing based on a data processing program. The control unit 1 includes, for example, a CPU (Central Processing Unit) 7, a signal processor 8, and an image processor 9. The CPU 7, the signal processor 8, and the image processor 9 are connected to each other via the bus 6. The CPU 7 interprets instructions from the data processing program and performs various data processing and control. For example, the CPU 7 instructs the signal processor 8 to supply image data to the image processor. The signal processor 8 mainly performs calculation in the three-dimensional space, position conversion calculation from the three-dimensional space to the pseudo three-dimensional space, light source calculation processing, and in the three-dimensional space or the pseudo three-dimensional space. Image and sound data generation / processing based on the result of the calculation performed is performed. The image processor 9 mainly performs a process of writing image data to be drawn into the RAM 12b based on the calculation result and the processing result of the signal processor 8. Further, the CPU 7 instructs the signal processor 8 to process various data. The signal processor 8 mainly performs calculations corresponding to various data in the three-dimensional space and position conversion calculation from the three-dimensional space to the pseudo three-dimensional space.

  The storage unit 2 mainly stores program data, various data used for the program data, and the like. The storage unit 2 includes, for example, a recording medium 10, an interface circuit 11, a hard disk 12a, and a RAM (Random Access Memory) 12b. An interface circuit 11 is connected to the recording medium 10. The interface circuit 11 is connected to the hard disk 12a and the RAM 12b via the bus 6. The recording medium 10 is for recording program data of the operation system, image data, audio data, and data composed of various program data. The recording medium 10 is, for example, a ROM (Read Only Memory) cassette, an optical disk, a flexible disk, or the like, and stores operating system program data, data used in the program, and the like. The recording medium 10 includes a card type memory. The hard disk 12a stores various data read from the recording medium 10, and records the processing results from the control unit 1. The RAM 12b is used to temporarily store various data read from the recording medium 10 and temporarily record the processing results from the control unit 1. The RAM 12b stores various data and address data indicating the storage position of the various data, and can read and write by designating an arbitrary address.

  The image display unit 3 is provided mainly for outputting image data written in the hard disk 12a or RAM 12b by the image processor 9 or image data read from the recording medium 10 as an image. The image display unit 3 includes, for example, a monitor 20, an interface circuit 21, and a D / A converter (Digital-To-Analog converter) 22. A D / A converter 22 is connected to the monitor 20, and an interface circuit 21 is connected to the D / A converter 22. The bus 6 is connected to the interface circuit 21. Here, the image data is supplied to the D / A converter 22 via the interface circuit 21, where it is converted into an analog image signal. Then, an analog image signal is output to the monitor 20 as an image.

  Here, the image data includes, for example, polygon data and texture data. Polygon data is the coordinate data of vertices constituting a polygon. The texture data is for setting a texture on the polygon, and is composed of texture instruction data and texture color data. The texture instruction data is data for associating polygons and textures, and the texture color data is data for designating the texture color. Here, the polygon data and the texture data are associated with the polygon address data indicating the storage position of each data and the texture address data. In such image data, the signal processor 8 coordinates the polygon data in the three-dimensional space indicated by the polygon address data (three-dimensional polygon data) based on the movement amount data and the rotation amount data of the screen itself (viewpoint). Conversion and perspective projection conversion are performed, and the data is replaced with polygon data (two-dimensional polygon data) in a two-dimensional space. Then, a polygon outline is constituted by a plurality of two-dimensional polygon data, and texture data indicated by the texture address data is written in an internal area of the polygon. In this way, an object in which a texture is pasted on each polygon, that is, various characters can be expressed.

  The audio output unit 4 is provided mainly for outputting audio data read from the recording medium 10 as audio. The audio output unit 4 includes, for example, a speaker 13, an amplifier circuit 14, a D / A converter 15, and an interface circuit 16. An amplifier circuit 14 is connected to the speaker 13, a D / A converter 15 is connected to the amplifier circuit 14, and an interface circuit 16 is connected to the D / A converter 15. The bus 6 is connected to the interface circuit 16. Here, the audio data is supplied to the D / A converter 15 via the interface circuit 16, where it is converted into an analog audio signal. This analog audio signal is amplified by the amplifier circuit 14 and output from the speaker 13 as audio. The audio data includes, for example, ADPCM (Adaptive Differential Pulse Code Modulation) data and PCM (Pulse Code Modulation) data. In the case of ADPCM data, sound can be output from the speaker 13 by the same processing method as described above. In the case of PCM data, sound can be output from the speaker 13 by the same processing method as described above by converting the PCM data into ADPCM data in the RAM 12b.

  The operation input unit 5 mainly includes a keyboard 17, an operation information interface circuit 18, and an interface circuit 19. An operation information interface circuit 18 is connected to the keyboard 17, and an interface circuit 19 is connected to the operation information interface circuit 18. The bus 6 is connected to the interface circuit 19. The keyboard 17 is an operation device used by the player to input various operation commands, and sends an operation signal corresponding to the operation of the player to the CPU 7. The keyboard 17 is provided with a plurality of keys on which alphabets, numbers, symbols, and the like are written.

  The communication unit 23 includes a communication control circuit 24 and a communication interface 25. The communication control circuit 24 and the communication interface 25 are used for connecting a home computer to a server or another computer. The communication control circuit 20 and the communication interface 21 are connected to the CPU 7 via the bus 16. The communication control circuit 20 and the communication interface 21 control and transmit a connection signal for connecting the home computer to the Internet according to a command from the CPU 7. The communication control circuit 20 and the communication interface 21 control and transmit a connection signal for connecting a home computer to a server or another computer via the Internet.

  The general operation of the home computer having the above configuration will be described below. When a power switch (not shown) is turned on and the power is turned on, the CPU 7 reads image data, audio data, and the like from the hard disk 12a or the recording medium 10 based on the operating system stored in the hard disk 12a or the recording medium 10. And read the program data. Some or all of the read image data, audio data, and program data are stored in the hard disk 12a or RAM 12b. Then, based on the program data stored in the hard disk 12a or the RAM 12b, the CPU 7 issues a command for outputting the image data and sound data to the monitor 20 and the speaker 13 as images and sounds.

  In the case of image data, based on a command from the CPU 7, first, the signal processor 8 performs character position calculation and light source calculation in a three-dimensional space. Next, the image processor 9 performs a process of writing image data to be drawn into the RAM 12b based on the calculation result of the signal processor 8. Then, the image data written in the RAM 12 b is supplied to the D / A converter 22 via the interface circuit 21. Here, the image data is converted into an analog video signal by the D / A converter 22. The image data is supplied to the monitor 20 and displayed as an image.

  In the case of audio data, first, the signal processor 8 generates and processes audio data based on a command from the CPU 7. Here, processing such as pitch conversion, noise addition, envelope setting, level setting, and reverb addition is performed on the audio data, for example. Next, the audio data is output from the signal processor 8 and supplied to the D / A converter 15 via the interface circuit 16. Here, the audio data is converted into an analog audio signal. The audio data is output as audio from the speaker 13 via the amplifier circuit 14.

[Outline of various processes in the data processor]
A program executed in the data processing apparatus is, for example, an image processing program. Image processing is executed by starting this image processing program. FIG. 2 is a functional block diagram for explaining functions that play a major role in the present invention. Although an example in which the data storage unit is the RAM 12b is shown here, this example does not limit the data storage unit to the RAM 12b. For example, the data storage unit may be the hard disk 12a, or the data storage unit may be the RAM 12b and the hard disk 12a.

  The posture determination data recognition means 50 has a function of causing the CPU 7 to recognize posture determination data stored in the RAM 12b for determining each of the plurality of postures of the object.

  More specifically, the posture determination data recognition unit 50 has a function of causing the CPU 7 to recognize posture determination data stored in the RAM 12b for determining each of a plurality of postures of a continuously changing object. .

  In more detail, the posture determination data recognition means 50 stores the elements that rotate around the connecting portion in the object that is stored in the RAM 12b and includes a plurality of elements and a connecting portion for connecting the plurality of elements to each other. It has a function of causing the CPU 7 to recognize attitude determination data for defining the position. This posture determination data recognition means 50 has a function of causing the CPU 7 to recognize posture determination data defined in the connecting portion.

  In this means, for example, the character is composed of a plurality of bone elements and joint portions for connecting the plurality of bone elements to each other. The CPU 7 recognizes posture determination data for defining the position of the bone element rotating around the joint portion of the character. Here, posture determination data is defined at the position of the joint. Specifically, the bone element is rotatable around three axes orthogonal to each other with the joint portion as the origin. The posture determination data includes data indicating the rotation angle around each axis and the position of the joint when the bone element rotates with the joint as the origin.

  The first reference posture determination data recognition means 51 has a function of causing the CPU 7 to recognize any two posture determination data among the plurality of posture determination data as reference posture determination data. Specifically, the first reference posture determination data recognition means 51 causes the CPU 7 to recognize the first posture determination data and the last posture determination data among the plurality of posture determination data as reference posture determination data. It has a function.

  In this means, for example, the first posture determination data and the last posture determination data among the plurality of posture determination data in the joint portion of the character are recognized by the CPU 7 as the reference posture determination data. Specifically, the first posture determination data and the last posture determination data among the plurality of posture determination data at the character's joint when the character's motion is viewed in time series are the reference posture Recognized by the CPU 7 as decision data. More specifically, the joint portion posture determination data (initial posture determination data) when the character starts to move is recognized by the CPU 7 as reference posture determination data. Further, the posture determination data of the joint when the character finishes the motion (last posture determination data) is recognized by the CPU 7 as the reference posture determination data.

  The first reference attitude determination data storage means 52 has a function of causing the CPU 7 to execute a process of storing the reference attitude determination data in the RAM 12b.

  In this means, for example, the CPU 7 executes processing for storing the reference posture determination data for each joint portion of the character in the RAM 12b. Specifically, data for determining the posture of each joint when the character starts moving and data for determining the posture of each joint when the character finishes moving (two reference posture determining data) are stored in the RAM 12b. The CPU 7 executes a process for storing the data.

  The correspondence data calculation means 53 has a function of causing the CPU 7 to execute processing for calculating correspondence data corresponding to each of a plurality of posture determination data using the reference posture determination data. Specifically, the correspondence data calculation unit 53 has a function of causing the CPU 7 to execute processing for calculating correspondence data corresponding to each of a plurality of posture determination data using the reference posture determination data. More specifically, the correspondence data calculation means 53 uses the reference posture determination data to correspond to the plurality of posture determination data between the first posture determination data and the last posture determination data. Is provided with a function for causing the CPU 7 to execute a process of calculating by interpolation.

  In this means, for example, prediction data (corresponding data) corresponding to each of a plurality of posture determination data between the first posture determination data and the last posture determination data is interpolated using a linear expression (linear interpolation). ) Or an interpolation using a polynomial or the like. Here, the data as the initial condition used for the interpolation is the first posture determination data and the last posture determination data (two reference posture determination data).

  The permissible difference data recognizing means 54 has a function of causing the CPU 7 to recognize permissible difference data for defining a permissible range in which a difference between the posture determination data and the corresponding data is permitted. The permissible difference data recognizing means 54 accepts the permissible difference data according to the distance between the connecting portion arranged at the base of the object and the connecting portion connected to the connecting portion arranged at the base of the object via at least one element. Is provided with a function for causing the CPU 7 to recognize.

  In this means, for example, the CPU 7 recognizes allowable error data (allowable difference data) indicating an error allowed between the posture determination data and the predicted data (corresponding data). Specifically, the allowable error data is defined for each joint part. Here, the allowable error data is the distance (inter-joint distance) between the joint part arranged in the main part of the character and another joint part connected to the joint part arranged in the main part of the character via the bone element. It is designed to change accordingly. Here, the waist of the character is set as the main part. In this way, the CPU 7 recognizes the allowable error data that changes in accordance with the distance between joints.

  The data difference determination means 55 causes the CPU 7 to execute a process of comparing the attitude determination data and the corresponding data corresponding to the attitude determination data, so that the difference between the attitude determination data and the corresponding data corresponds to the allowable difference data. The CPU 7 is provided with a function for determining whether or not it is within an allowable range.

  Specifically, the data difference determination means 55 causes the CPU 7 to execute a process for calculating the difference between the posture determination data and the corresponding data corresponding to the posture determination data, thereby making the difference between the posture determination data and the corresponding data. Has a function of causing the CPU 7 to determine whether or not is less than an allowable value corresponding to the allowable difference data.

  In this means, for example, the CPU 7 calculates the difference between the attitude determination data and the predicted data corresponding to the attitude determination data. Then, the CPU 7 determines whether or not the difference between the posture determination data and the corresponding data is less than the allowable value indicated by the allowable error data. Specifically, the CPU 7 determines whether or not the absolute value of the difference between the posture determination data and the corresponding data is less than the allowable value indicated by the allowable error data.

  The second reference posture determination data recognition means 56 determines the posture determination having the maximum difference when the CPU 7 determines that the difference between the posture determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data. The CPU 7 is provided with a function of causing the CPU 7 to recognize the reference data as reference posture determination data different from the reference posture determination data.

  Specifically, the second reference posture determination data recognition unit 56 determines that the difference is maximum when the CPU 7 determines that the difference between the posture determination data and the corresponding data is equal to or larger than the allowable value corresponding to the allowable difference data. Is provided with a function for causing the CPU 7 to recognize the posture determination data as the reference posture determination data different from the reference posture determination data.

  In this means, for example, when the CPU 7 determines that the difference between the posture determination data and the predicted data is equal to or larger than the allowable value corresponding to the allowable error data, the posture determination data that maximizes the difference from the predicted data. However, the CPU 7 recognizes the reference posture determination data different from the reference posture determination data. Specifically, when the CPU 7 determines that the absolute value of the difference between the posture determination data and the predicted data is equal to or larger than the allowable value corresponding to the allowable error data, the absolute value of the difference from the predicted data is maximized. The posture determination data is recognized by the CPU 7 as reference posture determination data different from the reference posture determination data.

  The second reference posture determination data storage means 57 has a function of causing the CPU 7 to execute a process of storing reference posture determination data different from the reference posture determination data in the RAM 12b.

  In this means, for example, the CPU 7 executes processing for storing the reference posture determination data recognized by the CPU 7 in the second reference posture determination data recognition means 56 in the RAM 12b. Specifically, the CPU 7 executes a process of storing attitude determination data (reference attitude determination data) that maximizes the absolute value of the difference from the predicted data in the RAM 12b.

  When the CPU 7 determines that the difference between the attitude determination data and the corresponding data is within the allowable range corresponding to the allowable difference data, the third reference attitude determination data recognition unit 58 stores all the data stored in the RAM 12b. A function for causing the CPU 7 to recognize the reference posture determination data is provided.

  Specifically, the third reference posture determination data recognition unit 58 stores the difference in the posture determination data and the corresponding data in the RAM 12b when the CPU 7 determines that the difference is less than the allowable value corresponding to the allowable difference data. The CPU 7 has a function of recognizing all the reference posture determination data.

  In this means, for example, when the CPU 7 determines that the difference between the posture determination data and the predicted data is less than the allowable value corresponding to the allowable error data, all the reference posture determination data stored in the RAM 12b are stored. , Is recognized by the CPU 7.

  The image data generation means 59 has a function of causing the CPU 7 to execute processing for generating image data for object postures based on all reference posture determination data.

  In this means, for example, the CPU 7 executes processing for generating image data for the posture of the character. Here, the image data for the character posture is generated based on the reference posture determination data recognized by the CPU 7 in the third reference posture determination data recognition means 59.

  For example, the reference posture determination data includes data indicating the rotation angle around each axis and the position of the joint when the bone element rotates with the joint as the origin. Image data for the character's posture is generated by determining the position of the bone element connected to each joint based on the reference posture determination data. The character posture image data is stored in the RAM 12b.

  Similarly, the posture determination data excluding the reference posture determination data is composed of data indicating the rotation angle around each axis and the position of the joint when the bone element rotates with the joint as the origin. Image data for the character's posture is generated by determining the position of the bone element connected to each joint based on the posture determination data. The character posture image data is stored in the RAM 12b.

  The posture determination data excluding the reference posture determination data is calculated by the CPU 7 based on the reference posture determination data. For example, posture determination data other than the reference posture determination data is generated by causing the CPU 7 to perform interpolation based on the reference posture determination data.

  The moving image display means 60 has a function of displaying a moving image composed of a plurality of postures of the object on the monitor 20 based on the image data for the posture of the object.

  In this means, for example, a moving image composed of a plurality of character postures is displayed on the monitor 20 based on the image data for the character posture. Specifically, when an instruction for continuously supplying image data for postures of a plurality of characters to the monitor 20 generated by the image data generating means 59 is issued from the CPU 7, a moving image showing the action of the character Is displayed on the monitor 20.

[Description and processing flow of image processing system]
Next, the image processing system will be described. The flow shown in FIG. 7 will also be described at the same time.

  First, when the home computer is turned on and the home computer is activated, the image processing program is loaded from the recording medium 10 into the RAM 12b and stored. Various basic data necessary for executing image processing are loaded from the recording medium 10 into the RAM 12b and stored (S1).

  For example, the basic data includes motion data for a character generated by motion capture. The motion data for the character is raw data obtained by digitally recording the posture of each moment of the actually moving human. This character motion data is composed of a plurality of pieces of image data (posture image data) indicating changes in the posture of the actually operating human. As shown in FIG. 3, the posture image data is composed of a plurality of bone elements (displayed with diagonal lines) and joint portions (blanks) for connecting the plurality of bone elements (displayed with diagonal lines) to each other. . In the following, description will be given by taking as an example a case where the posture image data constituting the motion data for a character generated by motion capture is n frames. Here, n is a natural number.

  When the image creator operates the keyboard 17 to cause the CPU 7 to execute processing for reproducing the posture image data for n frames in time series, the state of the character operating is displayed on the monitor 20 and confirmed. can do. Specifically, by causing the CPU 7 to issue a command to continuously reproduce the posture image data of the first frame to the posture image data of the nth frame, the state in which the character moves can be displayed on the monitor 20. . For this reason, the image producer can check the moving image when the motion data generated by the motion capture is used on the monitor 20.

  In addition, for example, the basic data includes posture determination data for determining the posture indicated by the character posture image data. Here, as shown in FIG. 3, the posture image data of the character is composed of a plurality of bone elements and joint portions for connecting the plurality of bone elements to each other. Posture determination data is used to define the position of the bone element rotating around the joint of the character. Posture determination data is defined in the joint. Specifically, the bone element is rotatable around three axes orthogonal to each other with the joint portion as the origin. Data indicating the rotation angle around each axis and the position coordinates of the joint when the bone element is rotated with the joint as the origin is posture determination data. The posture determination data is defined for each of a plurality of joint portions defined for the character.

  As shown in FIG. 3, the position coordinates of each joint part are defined in a coordinate system having the origin at the center position O of the joint part of the main part (waist) of the character. The rotation angle of the joint is defined in a coordinate system with the center position Om of the joint as the origin. Here, the coordinate system with the center position Om as the origin is a relative coordinate system in the coordinate system with the center position O as the origin.

  Subsequently, the basic data stored in the RAM 12 is recognized by the CPU 7 (S2). For example, the CPU 7 recognizes posture image data for n frames. Then, the CPU 7 recognizes posture determination data corresponding to the posture image data for n frames. In the following description, as shown in FIG. 3, the case where the character has m joints is taken as an example. Here, m corresponds to the number of joints. M is a natural number from 1 to 14.

  Further, for example, among the posture determination data for n frames, a plurality of posture determination data S (1, m, l) for the first frame and a plurality of posture determination data S (n, m, l) for the nth frame. l) is recognized by the CPU 7 as reference posture determination data K (1, m, l), K (n, m, l). Then, a process for storing the reference posture determination data K (1, m, l), K (n, m, l) in the RAM 12b is executed by the CPU 7 (S3).

  Here, l is a variable provided to distinguish the type of data. L is a natural number from 1 to 6. For example, the value of posture determination data S (n, m, 1) indicates an x coordinate value, the value of posture determination data S (n, m, 2) indicates a y coordinate value, and posture determination data S ( The values of n, m, 3) indicate z coordinate values. Further, the value of posture determination data S (n, m, 4) indicates the angle αx around the x axis, the value of posture determination data S (n, m, 5) indicates the angle αy around the y axis, The value of the posture determination data S (n, m, 6) indicates the angle αz around the z axis.

  Thus, for example, the position coordinates Xnm (x_nm, y_nm, z_nm) of the mth joint of the character in the nth frame are (S (n, m, 1), S (n, m, 2), S ( n, m, 3)). Also, for example, the rotation angle Anm (αx_nm, αy_nm, αz_nm) of the mth joint of the character in the nth frame is (S (n, m, 4), S (n, m, 6), S (n , M, 7)).

  Note that the position coordinates Xnm (x_nm, y_nm, z_nm) of the joint portion are (S (n, m, 1), S (n, m, 2), S (n, m, 3)) with respect to the origin O. Coordinates. The origin Om of the relative coordinate system is defined at the position indicated by the position coordinate Xnm of the joint.

  Subsequently, the permissible error data G (m, l) is recognized by the CPU 7 (S4). The permissible error data G (m, l) is data indicating an allowable error between the attitude determination data S (p, m, l) and the expected data Y (p, m, l) described later.

  Specifically, the allowable error data G (m, l) is the distance between the joint defined in the character's waist and the other joint connected to the joint defined in the character's waist via the bone element. It is set based on D (m) (inter-joint distance).

  Here, the setting of the allowable error data G (m, l) will be described. First, the allowable error data G (m, l) as an initial condition is recognized by the CPU 7. The allowable error data G (m, l) as the initial condition is defined in advance in the image processing program and stored in the RAM 12b.

  Next, a process for calculating the inter-joint distance D (m) is executed by the CPU 7. For example, the position coordinates (S (n, 1,1), S (n, 1,2), S (n, 1,3)) of the joint (m = 1) defined on the character's waist and bone Position coordinates (S (n, m, 1), S (n, m, 2), S (n, 2), other joints (m> 1) connected to the joints defined on the character's waist through the elements m, 3)), the distance from the joint part of the lumbar part to the other joint part connected to the joint part of the lumbar part, that is, the inter-joint distance D (m) from the lumbar part to each joint part is calculated by the CPU 7. The

  Here, for example, as shown in FIG. 4, the inter-joint distance D (2) from the waist joint O1 (O11) to the neck joint O2 is calculated by the CPU 7 based on the position coordinates of the joint. The inter-joint distance D (3) from the waist joint O1 (O12) to the left shoulder joint O3 is calculated by the CPU 7 based on the position coordinates of the joint. Further, the CPU 7 calculates an inter-joint distance D (4) from the lumbar joint portion O1 (O12) to the left elbow joint portion O4 based on the position coordinates of the joint portion. Further, an inter-joint distance D (4) from the waist joint O1 (O12) to the left wrist joint O5 is calculated by the CPU 7 based on the position coordinates of the joint. Similarly, the inter-joint distances D (6) to D (14) are calculated by the CPU 7 based on the position coordinates of the joints.

  Here, a numerical value “1” is assigned by the CPU 7 to the variable m for defining posture determining data in the joint portion of the waist. In addition, a predetermined value (a natural number of 2 or more) is assigned by the CPU 7 to the variable m for defining posture determining data in the joint portion excluding the waist. A value (numerical value corresponding to each joint part excluding the waist part: a natural number of 2 or more) assigned to the variable m for defining posture determining data in the joint part excluding the waist part is defined in advance in the image processing program ( (See FIG. 4).

  FIG. 4B is a diagram for explaining a base point when each inter-joint distance D (m) is calculated. Here, the joint portions O11, O12, O13, O14, and O15 of the lumbar region serve as base points for calculating the inter-joint distances D (m). In FIG. 4B, the hip joints O11, O12, O13, O14, and O15 are displayed at different positions so that the figure can be easily understood. However, the definition point of the waist joint O1 (O11, O12, O13, O14, O15) that is actually used for the calculation is the point Ob in FIG. 4B.

  When the inter-joint distance D (m) is calculated by the CPU 7, adjustment data C (m, l) for adjusting the allowable error data G (m, l) according to the inter-joint distance D (m) is obtained. , Is recognized by the CPU 7. Here, the joint distances D (2) and D (5) from the joint portions O11, O12, O13, O14, and O15 defined at the character's waist (main portion) to the end portions O2, O5, O8, O11, and O14. ), D (8), D (11), and D (14), the allowable error data G at the joint portions O1 (O11, O12, O13, O14, O15) to O14 from the waist to the end of the character. Adjustment data C (m, l) for adjusting (m, l) is recognized by the CPU 7. The correspondence between the joint distance D (m) and the adjustment data C (m, l) is defined in the program. That is, as shown in FIG. 5, the adjustment data C (m, l) corresponding to the inter-joint distance D (m) is recognized by the CPU 7 based on the correspondence table.

  Here, as the inter-joint distance D (m) increases, the adjustment data C (m, l) increases. In other words, the longer the total length of the bone elements connected to the waist, the smaller the adjustment data C (m, l) at the joint on the waist side. Thereby, when the total length of the bone elements connected to the waist is increased, the problem that the error in the waist is reflected as the error of the joint at a position away from the waist can be solved.

  When the adjustment data C (m, l) is recognized by the CPU 7, the CPU 7 executes a process for correcting the allowable error data G (m, l) based on the adjustment data C (m, l). For example, the CPU 7 executes a process (G (m, l) × C (m, l)) for multiplying the allowable error data G (m, l) as the initial condition by the adjustment data C (m, l). . Then, the multiplication result is an allowable error data G () corresponding to an error allowable between the posture determination data S (p, m, l) and the predicted data Y (p, m, l) at each joint. m, l) is recognized by the CPU 7 (S4).

  Subsequently, at least one posture determination data S (p) between the posture determination data S (1, m, l) of the first frame and the posture determination data S (n, m, l) of the nth frame. , M, l) (1 <p <n: p is a natural number), predicted data Y (p, m, l) corresponding to each is calculated by the CPU 7 (S5). Here, as shown in FIG. 6A, linear interpolation is used to calculate the predicted data Y (p, m, l), and the initial condition is the posture determination data S (1, m, 1) for the first frame. l) and posture determination data S (n_max, m, l) in the n_max frame. Specifically, “Y (p, m, l) = S (1, m, l) + (p−1) × (S (n_max, m, l) −S (1, m, l)) / Based on the expression (n_max−1) ”, the predicted data Y (p, m, l) is calculated by the CPU 7.

  In FIG. 6A, posture determination data S (1, m, l) for the first frame and posture determination data S (n, m, l) for the nth frame (n_max frame) as initial conditions are shown. ) Is indicated by a double circle. The predicted data Y (p, m, l) is indicated by an X mark. Here, an example is shown in which linear interpolation is used to calculate the predicted data Y (p, m, l), but interpolation using a polynomial is used to calculate the predicted data Y (p, m, l). May be.

  Subsequently, the absolute value Z (p, m, l) (= | Y (p, m, l) of the difference between the attitude determination data S (p, m, l) and the predicted data Y (p, m, l) ) -S (p, m, l) |) is calculated by the CPU 7 (S6). Here, the absolute value Z (p, m, l) is calculated by the CPU 7 between the 2nd frame and the (n−1) th frame.

  Then, the CPU 7 determines whether or not the absolute value Z (p, m, l) of the difference is less than the value indicated by the allowable error data G (m, l) (S7). Specifically, at least one value of absolute values Z (p, m, l) (1 <p <n) from 2 frames to (n−1) frames in each joint portion is allowable error data. The CPU 7 determines whether or not the value is less than the value indicated by G (m, l).

  At least one of the absolute values Z (p, m, l) from 2 frames to (n-1) frames in each joint is equal to or greater than the value indicated by the allowable error data G (m, l). Is determined by the CPU 7 (No in S7), the attitude determination data S (p_mx1, m, l) that maximizes the absolute value Z (p, m, l) is the reference attitude determination data described above. The CPU 7 recognizes the reference posture determination data K (p_mx1, m, l) different from K (1, m, l) and K (n, m, l). Then, a process of storing the reference posture determination data K (p_mx1, m, l) in the RAM 12b is executed by the CPU 7 (S8).

  Specifically, at least one of absolute values Z (p, m, l) from 2 frames to (n−1) frames in each joint is the allowable error data G (m, l). When the CPU 7 determines that the value is equal to or greater than the indicated value, the posture determination data S (p_mx1, m, l) having the maximum absolute value Z (p, m, l) between the first frame and the nth frame is The CPU 7 recognizes the reference posture determination data K (p_mx1, m, l) different from the reference posture determination data K (1, m, l) and K (n, m, l). Then, the CPU 7 executes a process of storing the reference posture determination data K (p_mx1, m, l) in the RAM 12b.

  For example, in FIG. 6A, the posture determination data having the maximum absolute value is the posture determination data S (7, m, l) of the seventh frame, which is the reference posture determination data K (1, It is recognized by the CPU 7 as reference posture determination data K (7, m, l) different from m, l), K (n, m, l) (see square marks in FIG. 6A). Then, the process for storing the reference posture determination data K (7, m, l) in the RAM 12b is executed by the CPU 7.

  Subsequently, by causing the CPU 7 to execute the same processing as in step 5, the posture determination data S (1, m, l) for the first frame and the posture determination data S (p_mx1, m) for the (p_mx1) frame are used. , L) at least one attitude determination data S (p, m, l) (1 <p <p_mx1: p is a natural number), the predicted data Y (p, m, l) respectively corresponding to the CPU 7 Is calculated by

  Similarly, by causing the CPU 7 to execute the same processing as in step 5, the posture determination data S (p_mx1, m, l) of the (p_mx1) frame and the posture determination data S (n of the nth frame) , M, l) is at least one attitude determination data S (p, m, l) (p_mx1 <p <n: p is a natural number). , Calculated by the CPU 7.

  In FIG. 6B, posture determination data S (1, m, l), S (n, m, l), S (p_mx1 (= 7), m, l) as initial conditions are two. It is shown with a heavy circle. Further, in FIG. 6B, the predicted data Y (p, m, l) is indicated by an X mark.

  Subsequently, by causing the CPU 7 to execute the same process as in step 6, the absolute value Z (p, m) of the difference between the attitude determination data S (p, m, l) and the predicted data Y (p, m, l) m, l) (= | Y (p, m, l) −S (p, m, l) |) is calculated by the CPU 7. Here, the CPU 7 calculates the absolute value Z (p, m, l) in frames from 2 frames to (n−1) frames excluding the (p_mx1) frame.

  Then, by causing the CPU 7 to execute the same process as in step 7, whether or not the absolute value Z (p, m, l) of the difference is less than the value indicated by the allowable error data G (m, l). Is determined by the CPU 7. Specifically, in each joint portion, at least an absolute value Z (p, m, l) (1 <p <n, p ≠ p_mx1) from 2 frames excluding the (p_mx1) frame to the (n−1) frame. The CPU 7 determines whether any one value is less than the value indicated by the allowable error data G (m, l).

  At least one value of absolute values Z (p, m, l) from 2 frames to (n−1) frames excluding the (p_mx1) frame in each joint portion is the allowable error data G (m, When the CPU 7 determines that the value is equal to or greater than the value indicated by l), the CPU 7 executes the same processing as in step 8. Here, for example, the posture determination data S (p_mx2 or p_mx3, m, l) having the maximum absolute value Z (p, m, l) in the frame range including the absolute value greater than the allowable error is the above-described reference. CPU 7 as reference attitude determination data K (p_mx2 or p_mx3, m, l) different from attitude determination data K (1, m, l), K (n, m, l), K (p_mx1, m, l) Recognized. Then, the CPU 7 executes a process of storing the reference posture determination data K (p_mx2 or p_mx3, m, l) in the RAM 12b. Here, p_mx2 and p_mx3 are any one natural number from 2 to (n-1) excluding p_mx1.

  Specifically, at least one of the absolute values Z (p, m, l) from 2 frames excluding the (p_mx1) frame to the (n−1) frame in each joint portion is the allowable error data G. When it is determined by the CPU 7 that the value is greater than or equal to the value indicated by (m, l) and an absolute value greater than or equal to the value indicated by the allowable error data G (m, l) is included between one frame and p_mx1 frame, Posture determination data S (p_mx2, m, l) having the maximum absolute value Z (p, m, l) until the p_mx1 frame is referred to as the reference posture determination data K (1, m, l), The CPU 7 recognizes the reference posture determination data K (p_mx2, m, l) different from K (n, m, l) and K (p_mx1, m, l).

  In addition, at least one value of absolute values Z (p, m, l) from 2 frames to (n−1) frames excluding the (p_mx1) frame in each joint portion is the allowable error data G (m, When it is determined by the CPU 7 that the value is equal to or greater than the value indicated by l) and an absolute value greater than or equal to the value indicated by the allowable error data G (m, l) is included between the p_mx1 frame and the n frame, the p_mx1 frame to the n frame The posture determination data S (p_mx3, m, l) having the maximum absolute value Z (p, m, l) between the reference posture determination data K (1, m, l) and K (n , M, l), K (p_mx1, m, l) is recognized by the CPU 7 as reference posture determination data K (p_mx3, m, l).

  Then, the CPU 7 executes a process of storing the reference posture determination data K (p_mx2, m, l) and K (p_mx3, m, l) in the RAM 12b. Here, p_mx2 and p_mx3 are any one natural number from 2 to (n-1) excluding p_mx1.

  For example, in FIG. 6B, the posture determination data having the maximum absolute value is the posture determination data S (4, m, l) of the fourth frame and the posture determination data of the (n_max-6) frame. The example in the case of S (n_max-6, m, l) is shown. In this case, the posture determination data S (4, m, l) of the fourth frame and the posture determination data S (n_max-6, m, l) of the (n_max-6) frame are used for determining the reference posture described above. Reference posture determination data K (4, m, l), K (n_max-6, different from data K (1, m, l), K (n, m, l), K (7, m, l) m, l) is recognized by the CPU 7 (see square marks in FIG. 6B). Then, a process of storing the reference posture determination data K (4, m, l), K (n_max-6, m, l) in the RAM 12b is executed by the CPU 7. Here, the p_mx2 frame corresponds to 4 frames, and the p_mx3 frame corresponds to (n_max-6) frames.

  Here, an example is shown in which an absolute value equal to or greater than the allowable error is included between 1 frame and p_mx1 frame and between p_mx1 frame and n frame. However, an absolute value greater than the allowable error may be included only between the 1 frame and the p_mx1 frame, or may be included only between the p_mx1 frame and the n frame. In this case, in the frame range in which the absolute value equal to or larger than the allowable error is included, the posture determination data that maximizes the absolute value Z (p, m, l) is different from the reference posture determination data described above. It is recognized by the CPU 7 as data for use.

  Such processing from step 5 to step 8 is performed by the absolute value Z (p, m, l) of the difference between the attitude determination data S (p, m, l) and the predicted data Y (p, m, l). Is repeatedly executed by the CPU 7 until the value becomes less than the value indicated by the allowable error data G (m, l).

  The absolute value Z (p, m, l) of the difference between the posture determination data S (p, m, l) and the predicted data Y (p, m, l) is the allowable error data G (m, l). Is determined to be less than the value indicated by the CPU 7 (Yes in S7), all the reference attitude determination data K (1, m, l), K (p_mxi, m, l), K stored in the RAM 12b. (N, m, l) is recognized by the CPU 7 (S9).

  The p_mxi used here is a symbol that generally represents the above-described p_mx1, p_mx2, and p_mx3. FIG. 6C illustrates an example in which the number of times i of determination processing in step 7 is “i_fin”. In this case, the reference posture determination data K (p_mx1, m, l), K (p_mx2, m, l),..., K (p_mxi_fin, m, l) are recognized by the CPU 7 (FIG. 6 ( (See double circle in c)).

  Subsequently, a process of generating character posture image data is executed by the CPU 7 (S10). Here, the character posture image data is stored in all the reference posture determination data K (1, m, l), K (p_mxi, m, l), and K (n, m, l) recognized by the CPU 7. Based on.

  First, frames corresponding to reference posture determination data K (1, m, l), K (p_mxi, m, l), K (n, m, l) (reference frame: 1 frame, p_mxi frame, and n frame) The frame posture determination data excluding () is calculated by the CPU 7 using the reference posture determination data K (1, m, l), K (p_mxi, m, l), K (n, m, l). Is done. For example, as shown in FIG. 6C, the posture determination data of the frames excluding the reference frame is the reference posture determination data K (1, m, l), K (p_mxi, m, l), K ( n, m, l) is approximate data calculated by using. This approximate data (frame posture determination data excluding the reference frame) is calculated by performing linear interpolation using adjacent reference posture determination data as initial data. In FIG. 6C, the data corresponding to the double circles indicate the reference attitude determination data K (1, m, l), K (p_mxi, m, l), K (n, m, l). ing.

  Specifically, the posture determination data (approximate data) of the frame p1 between one frame and the p_mxi frame is “S (p1, m, l) = S (1, m, l) + (p1-1 ) × (S (p_mxi, m, l) −S (1, m, l)) / (p_mxi−1) ”. Further, the attitude determination data (approximation data) of the frame p2 between a certain p_mxi frame (p_mx1 frame) and another p_mxi frame (p_mx2 frame) is “S (p2, m, l) = S (p_mx1, m , L) + (p2-1) × (S (p_mx2, m, l) −S (p_mx1, m, l)) / (p_mx2−p_mx1) ”. Further, the posture determination data (approximate data) of the frame p3 between the p_mxi frame and the n frame is “S (p3, m, l) = S (p_mxi, m, l) + (p3-1) × ( S (n, m, l) −S (p_mxi, m, l)) / (n−p_mx) ”. In FIG. 6C, the above approximate data is indicated by triangles.

  In this way, when the attitude determination data of the frame excluding the reference frame is calculated, the attitude determination data S (p, m, l) (1 ≦ p ≦ n, p ≠ 1) of the frame excluding the reference frame. , P ≠ p_mxi, p ≠ n) and reference posture determination data K (p, m, l) (p = 1, p = p_mxi, p = n) are stored in the RAM 12b.

  Subsequently, posture determination data S (p, m, l) (1 ≦ p ≦ n, p ≠ 1, p ≠ p_mxi, p ≠ n) and reference posture determination stored in the RAM 12b except for the reference frame. The data K (p, m, l) (p = 1, p = p_mxi, p = n) for use in posture determination data S ′ (p, m, l) (1) for generating character image data ≦ p ≦ n) is recognized by the CPU 7. Then, based on each of the posture determination data S ′ (p, m, l), processing for generating the posture image data of the character of each frame is executed by the CPU 7 (S10).

  For example, the posture determination data S ′ (p, m, l) for all frames is data indicating the position coordinates of the joint part and the rotation angle of the bone element that rotates around the joint part in each frame. Specifically, by substituting a numerical value “1”, a numerical value “2”, and a numerical value “3” for the variable l of the posture determination data S ′ (p, m, l) for each frame, The position coordinates (S ′ (p, m, 1), S ′ (p, m, 2), S ′ (p, m, 3)) of the joint portion are obtained. Further, by substituting the numerical value “4”, the numerical value “5”, and the numerical value “6” into the variable l of the posture determination data S ′ (p, m, l) for each frame, The rotation angles (S ′ (p, m, 4), S ′ (p, m, 5), S ′ (p, m, 6)) are obtained.

  In this way, the position of the joint part of the character in each frame is determined by obtaining the position coordinates and the rotation angle of the joint part of the character in each frame. Then, the CPU 7 executes a process of arranging an image corresponding to the bone element between the adjacent joint portions. Then, the image data in a state where the bone elements are arranged is stored in the RAM 12b as posture image data.

  Here, by causing the CPU 7 to execute processing for reproducing the posture image data stored in the RAM 12 in a time series, the state in which the character moves is displayed on the monitor 20 (S11). Specifically, the image producer operates the keyboard 17 to instruct the CPU 7 to instruct the CPU 7 to continuously reproduce the posture image data from the first frame to the posture image data of the nth frame. Thereby, the state where the character moves is displayed on the monitor 20. For this reason, the image creator can reproduce the motion data for the character generated by the image processing program as a moving image and check the accuracy of the generated moving image on the monitor 20.

  As described above, in the embodiment using the present invention, the posture determination data S ′ can be automatically and selectively stored in the storage unit based on the allowable error data G. Further, posture image data can be generated based on the selectively extracted posture determination data S ′, and a moving image including a plurality of character postures can be displayed on the monitor 20 based on the posture image data. Can be displayed. As described above, by reproducing the moving image based on the posture determination data S ′ extracted selectively, it is possible to reduce the volume of data necessary for reproducing the moving image.

  For example, by storing the posture determination data S ′ selectively extracted as described above in the game program, when the game program is executed in the game device, the posture determination data S ′ and the elements Motion data for the character can be generated based on the data. In this way, if only the posture determination data S ′ and the element data are prepared, the motion data for the character can be generated in the game device, so that the amount of data required for reproducing the moving image is reduced. be able to.

[Other Embodiments]
(A) In the above embodiment, an example in which a home computer is used as an example of a computer to which an image processing program can be applied has been described. However, the image processing apparatus is not limited to the above embodiment, and a monitor is different. The present invention can be similarly applied to an image processing device configured in a body, an image processing device in which a monitor is integrated, a personal computer or a workstation that functions as an image processing device by executing a game program. The image processing apparatus is not limited to the above-described embodiment, and can be similarly applied to a portable computer, a portable image processing apparatus, and the like.

(B) The present invention includes a program for executing the game as described above and a computer-readable recording medium on which the program is recorded. Examples of the recording medium include a computer-readable flexible disk, a semiconductor memory, a CD-ROM, a DVD, an MO, a ROM cassette, and the like in addition to the cartridge.

  (C) In the above embodiment, the predicted data Y (n, m, l, m) for each of the six components (l = 1, 2, 3, 4, 5, 6) of the attitude determination data S (n, m, l). The error is determined with respect to l). However, the error determination with respect to each of the six components of the posture determination data S (n, m, l) is not performed with respect to the predicted data Y (n, m, l), but only with respect to the representative component. Determination may be performed, or error determination may be performed on the sum of the squares of each component of coordinate values and angles.

1 is a basic configuration diagram of an image processing apparatus according to an embodiment of the present invention. FIG. 2 is a functional block diagram of the image processing apparatus. The figure for demonstrating the bone element and joint part of a model, and the coordinate system which defines the bone element and joint part of a model. The figure for demonstrating the calculation form of the distance between joints from the principal part of a model to a joint part. The figure which shows the correspondence of the distance between joints and adjustment data. The figure which shows the relationship between the data for attitude | position determination, and the prediction data corresponding to the data for attitude | position determination. The flow which shows an image processing system.

DESCRIPTION OF SYMBOLS 1 Control part 2 Memory | storage part 3 Image display part 4 Audio | voice output part 5 Operation input part 7 CPU
12 RAM
17 controller 20 monitor 23 communication unit 50 attitude determination data recognition means 51 first reference attitude determination data recognition means 52 first reference attitude determination data storage means 53 corresponding data calculation means 54 allowable difference data recognition means 55 data difference determination means 56 second reference attitude determination data recognition means 57 second reference attitude determination data storage means 58 third reference attitude determination data recognition means 59 image data generation means 60 moving picture display means S (n, m, l), S ′ (N, m, l) Attitude determination data K (n, m, l) Reference attitude determination data Y (n, m, l) Prediction data Z (p, m, l) Attitude determination data and prediction data Absolute value of difference G (m, l) Tolerance data D (m) Distance between joints

Claims (7)

To a computer that can process data for displaying objects on the image display,
The element that is stored in the storage unit and that determines each of a plurality of postures of the object, and that rotates around the connecting unit in the object that includes a plurality of elements and a connecting unit for connecting the plurality of elements to each other. A posture recognition data recognition function for causing the control portion to recognize posture determination data defined in the connecting portion ;
A first reference attitude determination data recognition function for causing the control unit to recognize any two attitude determination data of the plurality of attitude determination data as reference attitude determination data;
A first reference posture determination data storage function for causing a control unit to execute a process of storing the reference posture determination data in a storage unit;
A correspondence data calculation function for causing the control unit to execute processing for calculating correspondence data corresponding to each of the plurality of posture determination data using the reference posture determination data;
This is for defining an allowable range in which a difference between the posture determination data and the corresponding data is allowed , and the connection portion arranged at the base portion of the object, and the object through at least one of the elements. As the distance from the terminal portion connected to the connecting portion arranged at the base portion increases, the criterion for determining the difference between the posture determining data and the corresponding data on the base side of the object becomes stricter. Tolerance difference data recognition function to set tolerance difference data and make the control unit recognize
By causing the control unit to execute a process of comparing the posture determination data and the correspondence data corresponding to the posture determination data, a difference between the posture determination data and the correspondence data corresponds to the allowable difference data. A data difference determination function for causing the control unit to determine whether or not it is within an allowable range;
When the controller determines that the difference between the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is used as the reference attitude. A second reference posture determination data recognition function for causing the control unit to recognize the reference posture determination data different from the determination data;
A second reference posture determination data storage function for causing the control unit to execute processing for storing reference posture determination data different from the reference posture determination data in the storage unit;
When the control unit determines that the difference between the posture determination data and the corresponding data is within an allowable range corresponding to the allowable difference data, all the reference posture determination data stored in the storage unit A third reference posture determination data recognition function to be recognized by the control unit;
An image processing program for realizing In the permissible difference data recognition function, a process for setting adjustment data for adjusting the permissible difference data so that the discrimination criterion on the base side of the object becomes strict as the distance increases, and the permissible difference data The tolerance difference data is set by causing the control unit to execute a process of multiplying the adjustment data by
The image processing program according to claim 1. In the correspondence data calculation function, a process of calculating the correspondence data corresponding to each of the plurality of posture determination data using the reference posture determination data is executed by the control unit,
In the data difference determination function, by causing a control unit to execute a process of calculating a difference between the posture determination data and the corresponding data corresponding to the posture determination data, the posture determination data and the corresponding data Whether the difference is less than the tolerance value corresponding to the tolerance difference data,
In the second reference attitude determination data recognition function, when the control unit determines that the difference between the attitude determination data and the corresponding data is equal to or larger than an allowable value corresponding to the allowable difference data, the difference The posture determination data with the maximum is recognized by the control unit as reference posture determination data different from the reference posture determination data,
In the third reference posture determination data recognition function, when the control unit determines that the difference between the posture determination data and the corresponding data is less than an allowable value corresponding to the allowable difference data, The reference posture determination data is recognized by the control unit,
The image processing program according to claim 1 or 2. In the posture determination data recognition function, the control unit recognizes the posture determination data stored in the storage unit for determining each of the plurality of postures of the continuously changing object.
In the first reference posture determination data recognition function, the first posture determination data and the last posture determination data among the plurality of posture determination data are recognized by the control unit as the reference posture determination data. And
In the correspondence data calculation function, the correspondence data corresponding to each of the plurality of posture determination data between the first posture determination data and the last posture determination data using the reference posture determination data. The process of calculating is executed by the control unit,
The image processing program according to claim 1. In the computer,
An image data generation function for causing the control unit to execute processing for generating image data for posture of the object based on all the reference posture determination data;
A moving image display function for displaying a moving image including a plurality of postures of the object on an image display unit based on the image data for the posture of the object;
The image processing program according to claim 1, for further realizing the above. An image processing apparatus capable of processing data for displaying an object on an image display unit,
The element that is stored in the storage unit and that determines each of a plurality of postures of the object, and that rotates around the connecting unit in the object that includes a plurality of elements and a connecting unit for connecting the plurality of elements to each other. Posture determination data recognition means for causing the control unit to recognize posture determination data defined in the connecting unit ;
First reference attitude determination data recognition means for causing the control unit to recognize any two attitude determination data of the plurality of attitude determination data as reference attitude determination data;
First reference posture determination data storage means for causing a control unit to execute processing for storing the reference posture determination data in a storage unit;
Correspondence data calculation means for causing the control unit to execute processing for calculating correspondence data corresponding to each of the plurality of posture determination data using the reference posture determination data;
This is for defining an allowable range in which a difference between the posture determination data and the corresponding data is allowed , and the connection portion arranged at the base portion of the object, and the object through at least one of the elements. As the distance from the terminal portion connected to the connecting portion arranged at the base portion increases, the criterion for determining the difference between the posture determining data and the corresponding data on the base side of the object becomes stricter. , Tolerance difference data recognition means for setting tolerance difference data and causing the control unit to recognize it,
By causing the control unit to execute a process of comparing the posture determination data and the correspondence data corresponding to the posture determination data, a difference between the posture determination data and the correspondence data corresponds to the allowable difference data. Data difference determining means for causing the control unit to determine whether or not it is within an allowable range;
When the controller determines that the difference between the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is used as the reference attitude. Second reference posture determination data recognition means for causing the control unit to recognize the reference posture determination data different from the determination data;
Second reference posture determination data storage means for causing the control unit to execute processing for storing reference posture determination data different from the reference posture determination data in the storage unit;
When the control unit determines that the difference between the posture determination data and the corresponding data is within an allowable range corresponding to the allowable difference data, all the reference posture determination data stored in the storage unit A third reference posture determination data recognition means to be recognized by the control unit;
An image processing apparatus comprising: An image processing control method for controlling processing of data for displaying an object on an image display unit by a computer,
The element that is stored in the storage unit and that determines each of a plurality of postures of the object, and that rotates around the connecting unit in the object that includes a plurality of elements and a connecting unit for connecting the plurality of elements to each other. Posture determination data recognition step for causing the control unit to recognize the posture determination data defined in the connecting unit ;
A first reference attitude determination data recognition step for causing the control unit to recognize any two attitude determination data of the plurality of attitude determination data as reference attitude determination data;
A first reference posture determination data storage step for causing a control unit to execute a process of storing the reference posture determination data in a storage unit;
A correspondence data calculation step for causing the control unit to execute processing for calculating correspondence data corresponding to each of the plurality of posture determination data using the reference posture determination data;
This is for defining an allowable range in which a difference between the posture determination data and the corresponding data is allowed , and the connection portion arranged at the base portion of the object, and the object through at least one of the elements. As the distance from the terminal portion connected to the connecting portion arranged at the base portion increases, the criterion for determining the difference between the posture determining data and the corresponding data on the base side of the object becomes stricter. , A tolerance difference data recognition step for setting tolerance difference data and causing the control unit to recognize it,
By causing the control unit to execute a process of comparing the posture determination data and the correspondence data corresponding to the posture determination data, a difference between the posture determination data and the correspondence data corresponds to the allowable difference data. A data difference determination step for causing the control unit to determine whether or not it is within an allowable range;
When the controller determines that the difference between the attitude determination data and the corresponding data is outside the allowable range corresponding to the allowable difference data, the attitude determination data having the maximum difference is used as the reference attitude. A second reference posture determination data recognition step for causing the control unit to recognize the reference posture determination data different from the determination data;
A second reference posture determination data storage step for causing the control unit to execute a process of storing reference posture determination data different from the reference posture determination data in the storage unit;
When the control unit determines that the difference between the posture determination data and the corresponding data is within an allowable range corresponding to the allowable difference data, all the reference posture determination data stored in the storage unit A third reference posture determination data recognition step to be recognized by the control unit;
An image processing control method comprising:

Images