JPH08305473A - Three-dimensional data input system - Google Patents

Abstract

PURPOSE: To improve the efficiency of the process of the attitude input of multi- joint body structure in computer graphics. CONSTITUTION: A doll-shaped input device 600 is constituted by combining joints provided with an angle sensor 610 for respective X, Y and Z axis directions. In a data fetching routine 300, values digitizing the angles of respective axial directions for the respective joints of the input device 600 with a converter are used and in a coordinate calculating routine 400, display positions for the respective joints of multi-joint body structure in computer graphics are calculated. In a polygon display routine 500, a polygon is displayed on a display 103 based on a local coordinate system with the display position calculated in the coordinate calculating routine 400 as an origin.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional data input system using an electronic computer.

[0002]

2. Description of the Related Art In the conventional method of inputting the angle of a multi-joint structure in computer graphics, (1) a two-dimensional pointing device such as a mouse is used to determine the direction of each joint along the XY axis or X-axis. Method of setting around Z-axis, (2) NICOGRAPH Proceedings 1994 162
As shown in pages 167 to 167, motion capture that captures a human with markers on joints such as shoulders and elbows from at least two cameras, calculates the coordinates of each joint by image processing, and calculates the angle. There is a technology called.

[0003]

In the above method (1), the operation is not intuitive because the three-dimensional information is input by the two-dimensional pointing device. Further, since it is necessary to switch the direction of the angle to be set so that the XY axis or the XZ axis is centered, it is necessary to operate from another device such as a keyboard.

Further, the above method (2) requires a sufficient space for photographing, and the coordinates of the joint cannot be calculated when the marker is at a position hidden from the camera.

An object of the present invention is to provide a three-dimensional data input system capable of intuitively inputting the angle of each joint of a multi-joint structure in a space-saving manner.

[0006]

A plurality of movable joints provided with angle sensors are combined into a doll shape, and the posture of the doll is operated to convert the signals obtained from the angle sensors of each joint into A / D conversion. Then, it is input to a computer and used as each angle information of the multi-joint structure in computer graphics to achieve the above object.

[0007]

By using a doll type input device having an angle sensor at each joint, the angle of each joint of a multi-joint structure in computer graphics is input. As a result, the posture of the articulated structure can be intuitively set in a space-saving manner without attaching a marker or the like to the body or the like.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the outline of the system configuration of an embodiment of the present invention, and FIG. 2 shows the data processing flow thereof.

In FIG. 1, 101 and 110 are central processing units and memories of a computer, 102, 103 and 104 are displays, pointing devices and keyboards connected to the computer, 111 is a program, 900 is a data table, and 600 is the present invention. Input device consisting of the angle sensor 610, 800 is a signal from the input device
The converter which carries out / D conversion and inputs into a computer is shown.

The doll type input device 600 includes X, Y, Z
It is configured by a combination of joints provided with angle sensors 610 for respective axial directions. Data acquisition routine 30
At 0, the angle of each joint of the input device 600 in each axial direction is digitized by the converter, and the data table 900
To be stored. In the coordinate calculation routine 400, the display position of each joint of the multi-joint structure in computer graphics is calculated with reference to the data table 900. The quadrangle of the display image 121 shows these display positions. In the polygon display routine 500, the coordinate calculation routine 4
Based on the local coordinate system whose origin is the display position calculated in 00, the polygon is displayed on the display 102 as shown in the display image 122.

Next, the data table 900 used in the present invention will be described with reference to FIG. The following items are prepared for the number of joints in the data. That is, joint number i,
The joint number Parent [i] of the joint parent, the offset Offset [i] [j] in the X, Y, and Z directions from the coordinate system of the joint parent,
Rotation angle in the X, Y, and Z axis directions with respect to the coordinate system of the joint parent
Angle [i] [j]. Here, the parent-child relationship means that the parallel movement or rotation of a certain joint (parent) means that a certain joint (child)
Is a relationship that affects the display position of. When the parent joint number Parent [i] of the joint is -1, it indicates that the joint with joint number i has a parent-child relationship with the world coordinate system. Each value in these data tables is initialized as a basic attitude when the program is started.

Next, the data fetching routine 300 will be described with reference to FIG. Here, the input device 60
The angle of each joint of 0 in each axial direction is digitized by the converter and stored in the data table 900. First, 31
At 1, the counter i is substituted with 1. At 312, 1 is assigned to the counter j. Here, j represents each of the X, Y, and Z axes, and takes values of 1, 2, and 3, respectively. At 313, the angle of the joint number i in the j-axis direction is converted from the converter 800 to A /
Data table 900 after D conversion and import into computer
The angle data of each joint is stored in Angle [i] [j].
At 314, j is incremented. If j is 3 or less in 315, the process returns to 313. At 316, the counter i is incremented. 31 if i is less than or equal to the number of joints in 317
Return to the process of No. 2, and if not, end the process.

Next, the coordinate calculation routine 40 will be described with reference to FIG.
0 will be described. Here, the display position of each joint of the multi-joint structure in computer graphics is calculated with reference to the data table 900. Counter i at 411
Substitute 1 for. At 412, the parent of the joint number i (Parent
[I]) to find the path of the joint from the world coordinate system. 413 Offset [i] [j], Angle
[I] [j] and the path obtained in 412 are used to calculate the local coordinate system of the joint number i with respect to the world coordinate system. At 414, the counter i is incremented. Four
If i is less than or equal to the number of joints in 15, the process returns to 412,
If not, the process ends.

Next, the polygon display routine 500 will be described with reference to FIG. Here, the coordinate calculation routine 4
The polygon is displayed on the display 102 based on the local coordinate system whose origin is the display position calculated in 00. 51
At 1, the counter i is substituted with 1. At 512, joint number i
Obtain the transformation matrix from the local coordinate system of the joint of to the world coordinate system. At 513, all the vertex coordinates of the polygon of the joint are converted into the world coordinate system using the matrix obtained at 512. At 514, a polygon is drawn using, for example, the scan line method or the Z buffer method. At 515, the counter i is incremented. If i is less than or equal to the number of joints in 516, the process returns to 512, and if not, the process ends.

FIG. 7 shows an example of a joint provided with the angle sensor of the present invention. Here, the case of two degrees of freedom will be described. In FIG. 7, reference numerals 701 and 714 are mountain-shaped covers, and 704 and 70.
8, 710 is a holder, 706, 720 are jigs, 711,
715 is a nut, 717 and 721 are gears, 702 and 71
3 is an angle sensor such as a potentiometer, 703, 7
12, 719 are countersunk screws, 705 are wave washers,
Reference numerals 716, 718, and 722 are set screws with holes, 709 is a curved snap ring, and 707 is a snap ring. Both ends of joint 701,7
By moving 14 around the vertical direction of the paper,
The gears 7,721 move and the shaft of the potentiometer 702 rotates. The axis of the potentiometer 713 is rotated by moving it in the lateral direction of the paper. The signal of the angle set by such an operation is A / D converted by the converter of FIG. 1 and transferred to the computer.

[0016]

According to the present invention, by manipulating the posture of a doll type input device that is combined by using a plurality of movable joints provided with angle sensors, each angle information of a multi-joint structure in computer graphics. Therefore, the posture of the multi-joint structure can be intuitively set.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a system according to an embodiment of a three-dimensional data input system of the present invention.

FIG. 2 is a flowchart of a three-dimensional data input system.

FIG. 3 is an explanatory diagram of a data table.

FIG. 4 is a flowchart of a data import routine.

FIG. 5 is a flowchart of a coordinate calculation routine.

FIG. 6 is a flowchart of a polygon display routine.

FIG. 7 is a sectional view showing an example of a joint with an angle sensor.

[Explanation of symbols]

101 ... CPU, 102 ... Display, 103 ... Pointing device, 104 ... Keyboard, 110 ... Memory, 111 ... Program, 600 ... Input device, 6
10 ... Angle sensor, 800 ... Converter, 900 ... Data table.

Claims (2)

[Claims] 1. A computer, a display connected to the computer, means for displaying computer graphics consisting of a plurality of joints on the computer, a plurality of joints having at least one angle sensor, and the angle sensor. And a means for A / D converting the signal to be transferred to a computer, combining joints equipped with the angle sensor in the same manner as the joint structure inside the computer, and operating this to determine the posture,
A / D conversion is performed on the signals of the angle sensors, the signals are transferred to the computer, the joint angle of the computer graphics on the computer is determined using the angle signals, and the joint structure having the angle is set. A three-dimensional data input system characterized by displaying computer graphics on a display. 2. The three-dimensional data according to claim 1, wherein the joint including the angle sensor is subjected to a process such as a screw that can be easily removed, and the joint can be combined according to a change in the joint structure of the computer graphics. Input system.