CN106406875A - Virtual digital sculpture method based on natural gesture - Google Patents
Virtual digital sculpture method based on natural gesture Download PDFInfo
- Publication number
- CN106406875A CN106406875A CN201610810266.1A CN201610810266A CN106406875A CN 106406875 A CN106406875 A CN 106406875A CN 201610810266 A CN201610810266 A CN 201610810266A CN 106406875 A CN106406875 A CN 106406875A
- Authority
- CN
- China
- Prior art keywords
- point
- sculpture
- virtual
- axis
- collision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000000694 effects Effects 0.000 claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims description 41
- 210000000236 metacarpal bone Anatomy 0.000 claims description 18
- 210000000988 bone and bone Anatomy 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 10
- 210000003813 thumb Anatomy 0.000 claims description 10
- 235000013399 edible fruits Nutrition 0.000 claims description 9
- 210000004247 hand Anatomy 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 239000013598 vector Substances 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 210000005224 forefinger Anatomy 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000004364 calculation method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 2
- 241000282806 Rhinoceros Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000011960 computer-aided design Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/20—Software design
- G06F8/22—Procedural
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a virtual digital sculpture method based on a natural gesture. The virtual digital sculpture method comprises the following steps of obtaining a gesture position through Leap Motion; and performing virtual sculpture modeling. According to the digital sculpture method, two major models, including an established to-be-sculptured model and a virtual hand model which is established based on a joint coordinate obtained from Leap Motion, are adopted in a task of the virtual sculpture; when a human hand moves under Leap Motion to further control a virtual hand and a fixed to-be-sculptured model to be subjected to slight collision, whether a crossed point exists or not in the collision position is detected through a triangle-triangle crossing algorithm in a three-dimensional space; and then real-time correction on a crossed point coordinate is performed through a virtual sculpture deformation algorithm in an intersecting line position of the crossed point according to calculation of the collision depth, so as to achieve a sculpture deformation effect.
Description
Technical field
The invention belongs to natural field of human-computer interaction, particularly to a kind of virtual digit sculpture side based on natural gesture
Method.
Background technology
Constantly put into the dimensional Modeling Technology under practical application, area of computer aided with advanced digitized instrument and equipment
Have evolved to the three-dimensional modeling including multiple methods such as spatial digitizer, Image Based Rendering (IBMR),
And computer aided design system function is stronger and stronger, but its use threshold also more and more higher, operation also come more complicated,
User needs to take a lot of trouble and the three-dimensional thinking of oneself could be conveyed to computer exactly, largely limits designer's
Designed concept.Traditional three-dimensional modeling mainly to be completed by 3 d modeling software such as 3DMax, Maya and rhinoceros etc., they
Powerful can not put no, abecedarian has to spend certain energy could grasp and how to model, and threshold is higher, and operator
Also it is not easy the idea of oneself to clearly expressing, and after left-hand seat, complete the time of a model more attractive in appearance
Usually need several hours, abroad also have some to carry out three-dimensional modeling by VR and AR, but the model being built out is often
Excessively simple, practicality is not high.3D printer uses very generally in daily life, but is but difficult to popularization and comes, wherein
Crucial the reason, has at 2 points：One be 3 d modeling software introduction relatively difficult, irrelevant specialty people need spend very big essence
How power goes study using modeling software；Two is the 3 d modeling software shape understanding thought object in the minds of people beyond expression of words,
Particularly some details aspects, often thought in the minds of people and differing greatly of being drawn of software.So optimizing further
With preferable implementations of function exactly people such as the deformation of powerful virtual sculpture.
In each organ of human body, handss are the most flexible, and people can mark various according to idea ratio in the heart
Gesture.Hold the profile that icking tool can easily carve object like in sculptor's handss, but according to foreign and domestic situation,
Domestic 3D modeling software function is powerful but to need consuming people's substantial amounts of time to learn and skilled software；And it is external various light
Quantitative design Journal of Sex Research has been realized rapidly but the model that can set up is relatively simple.For case above, focus on into one
Step optimizes and powerful virtual sculpture function, realizes natural interactive mode fine sculpture effect simultaneously.Set up one kind and compare intelligence
Can space be more natural, effective, the virtual sculpture of gesture that have high fluidity.Based on two above phenomenon, we just think
And had complementary advantages.Virtual sculpture is carried out on computers using Leap motion by natural gesture, and carries out fast
Fast three-dimensional modeling, prints model then in conjunction with 3D printer.This addresses the problem the difficult problem of current three-dimensional modeling,
Allow 3D printer towards masses, and threshold is low, easy popularization.
Content of the invention
This invention proposes the method allowing user to carry out virtual sculpture in computer by natural gesture, the method
Employ the natural Man Machine Interface based on leap Motion contactless device, user can be made intuitively to carry out void
Intend sculpture and Real Time Observation to the result feedback of sculpture.
The purpose of the present invention is achieved through the following technical solutions.
Based on the virtual digit sculpting method of natural gesture, comprise the steps：
S1, hand gesture location obtain, and hand gesture location is acquired by Leap Motion；
S2, the modeling of virtual sculpture；
S3, model deformation, have two main models when the task of carrying out virtual sculpture works, and one is to have built wait carving
The model moulded, one is to obtain, by Leap Motion, the virtual hand model that joint coordinates build；When staff is in Leap Motion
Lower motion and then control virtual hand and the generation slight impact of fixing wait sculpture model, at collision, detection is with three dimensions triangle
The algorithm that shape is intersected with triangle determines whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, using virtual
Sculpture deformation algorithm and then joining position coordinateses are carried out real time modifying, thus realizing sculpture deformation effect.
Further, described step S1 comprises the following steps：
The data of hand gesture location is to be acquired by Leap Motion, and what virtual sculpture needed to use is finger to be carried out
Sculpture, it would therefore be desirable to obtain the related data of finger, every handss can obtain the data of 5 fingers, and 5 fingers divide
It is not：
（1）Thumb（Thumb finger）
（2）Forefinger（Index finger）
（3）Middle finger（Middle finger）
（4）Nameless（Ring finger）
（5）Little finger（Pinky finger）
Each finger can obtain its initial position start (X, Y, Z), final position end (X, Y, Z) and direction direction
(pitch, roll, yaw).
Each finger is finely divided, following four joints can be divided into：
（1）Metacarpal bone Metacarpal bone
（2）Near-end bone Proximal bone
（3）Intermedium Middle bone
（4）Distal bone Distal bone
To each joint it is also possible to obtain its initial position start (X, Y, Z), final position end (X, Y, Z) and direction
direction(pitch, roll, yaw).
There is above data, we can obtain position in one's hands, also deposit because Leap Motion obtains gesture data
In certain error, anti-interference is not very strong, so we can be carried out to gesture data using mixing Kalman filtering
Merge, the accuracy of such gesture data just improves a lot, can be used for ensuing gesture model and builds.
Further, described step S2 comprises the following steps：
（1）Construct the cylinder representing people's joints of hand using 3DMAX, being converted to suffix in OpenSceneGraph is .osg's
Nodal analysis method is for use in the process of scene.To obtain the corresponding coordinate in each joint of staff followed by Leap Motion,
In the API of Leap Motion, in the joint identification of staff, finger be divide into 17 parts, be the metacarpal bone that tail refers to respectively
(Metacarpals), nearside phalanges (Proximal phalanges), medial phalanges (Intermediate phalanges)
With distal phalange (Distal phalanges), nameless metacarpal bone (Metacarpals), nearside phalanges (Proximal
Phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal phalanges), middle finger
Metacarpal bone (Metacarpals), nearside phalanges (Proximal phalanges), medial phalanges (Intermediate
) and distal phalange (Distal phalanges), the metacarpal bone (Metacarpals) of forefinger, nearside phalanges phalanges
(Proximal phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal
Phalanges), the nearside phalanges (Proximal phalanges) of thumb, medial phalanges (Intermediate
Phalanges) and distal phalange (Distal phalanges) (the metacarpal bone length of thumb is set to 0), thus
Need in OpenSceneGraph to build the model of staff with 17 cylinders
（2）Because the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, by leap
Motion needs in incoming coordinate to be changed.With the direction of relative device level during the coordinate system that Leap Motion adopts
For X-axis, the right is positive axis, and the vertical direction of relative device is Y-axis, upwards for positive axis, in the horizontal plane direction vertical with X-axis is
Z axis, with point to user direction as positive axis, and in OpenSceneGraph with the direction of form level as X-axis, the right is just
Axle, the vertical direction of form equipment is Z axis, upwards for positive axis, is Y-axis in the horizontal plane direction vertical with X-axis, to point to use
The direction of person is positive axis, needs incoming Y-axis and Z axis when therefore in OpenSceneGraph using incoming coordinate data
Data be exchanged with each other.Create a Group pointer as root node in OpenSceneGraph, the matrix using interior band turns
Exchange the letters number is combined each cylinder of process with incoming coordinate, more respectively as node, 17 cylinders is added to root node
In, using osg::Viewer is shown in the scene.
（3）In addition it is also necessary to be built with mud to virtual sculpture after having built virtual hand, due to sculpture mud one in actual life
As unsetting, the preset model of virtual mud is therefore provided in use, constructs cuboid using 3dmax, square, circle
Post, spheroid is as default.
Further, described step S3 comprises the following steps：
There are two main models when the task of carrying out virtual sculpture works, one is to build the model waiting sculpture one
Individual is to obtain, by Leap Motion, the virtual hand model that joint coordinates build.When staff moves under Leap Motion and then controls
There is slight impact with fixing wait sculpture model in virtual hand processed, collide out detection with three dimensions triangle and triangle phase
The algorithm handed over determines whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, using virtual sculpture deformation algorithm
And then joining position coordinateses are carried out certain real time modifying, thus realize sculpture deformation effect.During be related to mainly touch
Hit detection algorithm with virtual sculpture deformation algorithm as detailed below.
Two triangle collision detection algorithm of three dimensions are as follows：
（1）It is assumed that three dimensions haveABC withPQR, withOn the basis of the plane of ABC place, set up this plane normal, its
In, by triangle ABC place plane（It is set to * 0）In the space dividing,It is * 1 for positive space,Space for negative sense
For * 2, refer to accompanying drawing 1.
（2）According to the point P of triangle PQR, point Q, point R are each located space field（*1/*2/*0）Judgement, analysis touches
Hit situation.UsingRespectively with,,The positive and negative values of inner product of vectors judge place space field（*1/*2/*0）.
a）As fruit dot P, point Q, 3 points of point R all * 1 or * 2, thenABC withPQR can not possibly intersect；
b）As fruit dot P, point Q, there is point in point R * 0, thenABC intersects certainly with * 0,ABC withPQR may intersect：
b1）This intersection point existsABC, then the point of impingement be this intersection point；
b2）Otherwise, continue c）Step judges.
c）As fruit dot P, point Q, 3 points of point R not entirely * 0 or * 1 or * 2, thenABC intersects certainly with * 0, according to intersection with
The similar triangles of face * 0 build, and vector projection is obtainedABC with * 0 intersection point（Refer to accompanying drawing 2）：
c1）This intersection point existsABC, then the point of impingement be this intersection point；
c2）Otherwise, collisionless point.
（3）Judge a little whether be analyzed as follows in known triangle algorithm.Set up accompanying drawing 3,XYZ, point A existsOn XYZ, point
B is outside.
ForThe point of XYZ has following feature：
Choose XY side, 2 points of A, Z is in the same side；Choose XZ side, 2 points of A, Y is in the same side；Choose YZ side, 2 points of A, X is same
Side.
Wherein, whether accompanying drawing 3, be related to a little in known plane point of intersection acquisition methods：
,,
Such as PQ is calculated as follows with * 0 intersection point F：
Wherein：
<Two>The process of sculpture deformation algorithm as shown in Figure 4, when finger constantly to sculpture close when, can according to collision algorithm
To detect whether finger face and sculpture face produce collision, if producing collision, all of point of impingement can be calculated.Right
In each point of impingement, it is necessary to a certain distance will be offset towards some direction after producing collision, so that sculpture
Face produces certain deformation.
AssumeFor one of point of impingement,For distance on impingement areaNearest one
Point, thenThe collision distance of point can be defined as foloows：
（1）
PointThe direction of motion can be defined as foloows：
（2）
There is collision distanceAnd the direction of motionIt is possible to by pointCarry out inclined accordingly
Move.Each point of impingement being calculated is entered line displacement in this manner, then sculpture just can realize the function of deforming.
The present invention has such advantages as with respect to prior art and effect：
This invention propose a kind of permission operator completed on computer OSG platform by three-dimensional gesture motion virtual
Sculpture task.This interface based on Leap Motion obtains more accurate joint coordinates and realizes natural man-machine interaction, fortune
Use on three-dimensional modeling sculpture, break away from the restriction of excessive physical unit.
Brief description
Fig. 1 is the space diagram of collision detection two triangle；
Fig. 2 is that spatially intersection and face find intersection schematic diagram；
Whether Fig. 3 is point in triangle schematic diagram；
Fig. 4 is finger face and sculpture face produces Collision diagram.
Specific embodiment
With reference to embodiment, the present invention is described in further detail, but embodiments of the present invention not limited to this,
If in place of having special detailed description in detail below, it is all that those skilled in the art can refer to prior art realization.
This example is comprised the steps based on the virtual digit sculpture implementation method of natural gesture：
S1, hand gesture location obtain
S2, the modeling of virtual sculpture
S3, model deformation.
Described step S1 comprises the following steps：
The data of hand gesture location is to be acquired by Leap Motion, and what virtual sculpture needed to use is finger to be carried out
Sculpture, it would therefore be desirable to obtain the related data of finger, every handss can obtain the data of 5 fingers, and 5 fingers divide
It is not：
（1）Thumb finger
（2）Index finger
（3）Middle finger
（4）Ring finger
（5）Pinky finger；
Each finger can obtain its initial position start (X, Y, Z), final position end (X, Y, Z) and direction direction
(pitch, roll, yaw).
Each finger is finely divided, following four joints can be divided into：
（1）Metacarpal bone
（2）Proximal bone
（3）Middle bone
（4）Distal bone；
To each joint it is also possible to obtain its initial position start (X, Y, Z), final position end (X, Y, Z) and direction
direction(pitch, roll, yaw).
There is above data, we can obtain position in one's hands, also deposit because Leap Motion obtains gesture data
In certain error, anti-interference is not very strong, so we can be carried out to gesture data using mixing Kalman filtering
Merge, the accuracy of such gesture data just improves a lot, can be used for ensuing gesture model and builds.
Described step S2 comprises the following steps：
（1）Construct the cylinder representing people's joints of hand using 3DMAX, being converted to suffix in OpenSceneGraph is .osg's
Nodal analysis method is for use in the process of scene.To obtain the corresponding coordinate in each joint of staff followed by Leap Motion,
In the API of Leap Motion, in the joint identification of staff, finger be divide into 17 parts, be the metacarpal bone that tail refers to respectively
(Metacarpals), nearside phalanges (Proximal phalanges), medial phalanges (Intermediate phalanges)
With distal phalange (Distal phalanges), nameless metacarpal bone (Metacarpals), nearside phalanges (Proximal
Phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal phalanges), middle finger
Metacarpal bone (Metacarpals), nearside phalanges (Proximal phalanges), medial phalanges (Intermediate
) and distal phalange (Distal phalanges), the metacarpal bone (Metacarpals) of forefinger, nearside phalanges phalanges
(Proximal phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal
Phalanges), the nearside phalanges (Proximal phalanges) of thumb, medial phalanges (Intermediate
Phalanges) and distal phalange (Distal phalanges) (the metacarpal bone length of thumb is set to 0), thus
Need in OpenSceneGraph to build the model of staff with 17 cylinders
（2）Because the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, by leap
Motion needs in incoming coordinate to be changed.With the direction of relative device level during the coordinate system that Leap Motion adopts
For X-axis, the right is positive axis, and the vertical direction of relative device is Y-axis, upwards for positive axis, in the horizontal plane direction vertical with X-axis is
Z axis, with point to user direction as positive axis, and in OpenSceneGraph with the direction of form level as X-axis, the right is just
Axle, the vertical direction of form equipment is Z axis, upwards for positive axis, is Y-axis in the horizontal plane direction vertical with X-axis, to point to use
The direction of person is positive axis, needs incoming Y-axis and Z axis when therefore in OpenSceneGraph using incoming coordinate data
Data be exchanged with each other.Create a Group pointer as root node in OpenSceneGraph, the matrix using interior band turns
Exchange the letters number is combined each cylinder of process with incoming coordinate, more respectively as node, 17 cylinders is added to root node
In, using osg::Viewer is shown in the scene.
（3）In addition it is also necessary to be built with mud to virtual sculpture after having built virtual hand, due to sculpture mud one in actual life
As unsetting, the preset model of virtual mud is therefore provided in use, constructs cuboid using 3dmax, square, circle
Post, spheroid is as default.
Described step S3 comprises the following steps：
There are two main models when the task of carrying out virtual sculpture works, one is to build the model waiting sculpture one
Individual is to obtain, by Leap Motion, the virtual hand model that joint coordinates build.When staff moves under Leap Motion and then controls
There is slight impact with fixing wait sculpture model in virtual hand processed, collide out detection with three dimensions triangle and triangle phase
The algorithm handed over determines whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, using virtual sculpture deformation algorithm
And then joining position coordinateses are carried out certain real time modifying, thus realize sculpture deformation effect.During be related to mainly touch
Hit detection algorithm with virtual sculpture deformation algorithm as detailed below.
<One>During main two triangle collision detection algorithm of three dimensions as follows：
（1）It is assumed that three dimensions haveABC withPQR, withOn the basis of the plane of ABC place, set up this plane normal, its
In, by triangle ABC place plane（It is set to * 0）In the space dividing,It is * 1 for positive space,Space for negative sense
For * 2, refer to accompanying drawing 1.
（2）According to the point P of triangle PQR, point Q, point R are each located space field（*1/*2/*0）Judgement, analysis touches
Hit situation.UsingRespectively with,,The positive and negative values of inner product of vectors judge place space field（*1/*2/*0）.
c）As fruit dot P, point Q, 3 points of point R all * 1 or * 2, thenABC withPQR can not possibly intersect；
d）As fruit dot P, point Q, there is point in point R * 0, thenABC intersects certainly with * 0,ABC withPQR may intersect：
b1）This intersection point existsABC, then the point of impingement be this intersection point；
b2）Otherwise, continue c）Step judges.
c）As fruit dot P, point Q, 3 points of point R not entirely * 0 or * 1 or * 2, thenABC intersects certainly with * 0, according to intersection with
The similar triangles of face * 0 build, and vector projection is obtainedABC with * 0 intersection point（Refer to accompanying drawing 2）：
c1）This intersection point existsABC, then the point of impingement be this intersection point；
c2）Otherwise, collisionless point.
（3）Judge a little whether be analyzed as follows in known triangle algorithm.Set up accompanying drawing 3,XYZ, point A existsOn XYZ, point
B is outside.
ForThe point of XYZ has following feature：
Choose XY side, 2 points of A, Z is in the same side；Choose XZ side, 2 points of A, Y is in the same side；Choose YZ side, 2 points of A, X is same
Side.
Wherein, whether accompanying drawing 3, be related to a little in known plane point of intersection acquisition methods：
,,
Such as PQ and * 0 intersection point F：
<Two>The process of sculpture deformation algorithm as shown in Figure 4, when finger constantly to sculpture close when, can according to collision algorithm
To detect whether finger face and sculpture face produce collision, if producing collision, all of point of impingement can be calculated.Right
In each point of impingement, it is necessary to a certain distance will be offset towards some direction after producing collision, so that sculpture
Face produces certain deformation.
AssumeFor one of point of impingement,For distance on impingement areaNearest one
Point, thenThe collision distance of point can be defined as foloows：
（1）
PointThe direction of motion can be defined as foloows：
（2）
There is collision distanceAnd the direction of motionIt is possible to by pointCarry out inclined accordingly
Move.Each point of impingement being calculated is entered line displacement in this manner, then sculpture just can realize the function of deforming.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not subject to above-described embodiment
Limit, other any spirit without departing from the present invention and the change made under principle, modification, replacement, combine, simplify,
All should be equivalent substitute mode, be included within protection scope of the present invention.
Claims (5)
1. the virtual digit sculpting method based on natural gesture is it is characterised in that comprise the steps：
S1, hand gesture location obtain, and hand gesture location is acquired by Leap Motion；
S2, the modeling of virtual sculpture；
S3, model deformation, have two main models when the task of carrying out virtual sculpture works, and one is to have built wait carving
The model moulded, one is to obtain, by Leap Motion, the virtual hand model that joint coordinates build；When staff is in Leap Motion
Lower motion and then control virtual hand and the generation slight impact of fixing wait sculpture model, at collision, detection is with three dimensions triangle
The algorithm that shape is intersected with triangle determines whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, using virtual
Sculpture deformation algorithm and then joining position coordinateses are carried out real time modifying, thus realizing sculpture deformation effect.
2. the virtual digit sculpting method based on natural gesture according to claim 1 is it is characterised in that described step S1
Comprise the following steps：
Hand gesture location is obtained by Leap Motion, needs to obtain the related data of finger, every handss can obtain 5 handss
The data referring to, 5 fingers are respectively thumb, forefinger, middle finger, the third finger, little finger；Each finger can obtain its initial position
Start (X, Y, Z), final position end (X, Y, Z) and direction direction (pitch, roll, yaw)；
Each finger is finely divided, is divided into four joints：Metacarpal bone, near-end bone, intermedium, distal bone；
For each joint, its initial position start (X, Y, Z), final position end (X, Y, Z) and direction can be obtained
direction(pitch, roll, yaw)；And then obtain position in one's hands, also deposit because Leap Motion obtains gesture data
In error, gesture data is carried out merge using mixing Kalman filtering and improve accuracy, for ensuing virtual carving
Mould mould.
3. the virtual digit sculpting method based on natural gesture according to claim 1 is it is characterised in that described step S2
Comprise the following steps：
（1）Construct the cylinder representing people's joints of hand using 3DMAX, being converted to suffix in OpenSceneGraph is .osg's
Nodal analysis method is for use in the process of scene；To obtain the corresponding coordinate in each joint of staff followed by Leap Motion,
In the API of Leap Motion, in the identification of the joint of staff, finger be divide into 17 parts, be respectively tail refer to metacarpal bone, nearside
Phalanges, medial phalanges and distal phalange, nameless metacarpal bone, nearside phalanges, medial phalanges and distal phalange, the metacarpal bone of middle finger,
Nearside phalanges, medial phalanges and distal phalange, the metacarpal bone of forefinger, the nearside of nearside phalanges, medial phalanges and distal phalange, thumb
Phalanges, medial phalanges and distal phalange, the metacarpal bone length of thumb is set to 0, so needing in OpenSceneGraph with 17
Cylinder is building the model of staff；
Because the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, existed by leap motion
Need during incoming coordinate to be changed；With the direction of relative device level as X-axis during the coordinate system that Leap Motion adopts, right
Side is positive axis, and the vertical direction of relative device is Y-axis, upwards for positive axis, is Z axis in the horizontal plane direction vertical with X-axis, to refer to
It is positive axis to the direction of user, and in OpenSceneGraph with the direction of form level as X-axis, the right is positive axis, form
The vertical direction of equipment is Z axis, upwards for positive axis, is Y-axis in the horizontal plane direction vertical with X-axis, to point to the side of user
To for positive axis, when therefore in OpenSceneGraph using incoming coordinate data, need the data by incoming Y-axis and Z axis
It is exchanged with each other；Create a Group pointer as root node in OpenSceneGraph, using the matrix conversion function of interior band
Be combined each cylinder of process with incoming coordinate, more respectively 17 cylinders be added in root node as node node,
Using osg::17 cylinders of finger are shown in the scene by Viewer；
In addition it is also necessary to be built with mud to virtual sculpture after having built virtual hand, because in actual life, sculpture is general with mud
Unsetting, the preset model of virtual mud is therefore provided in use, constructs cuboid using 3dmax, square, cylinder,
Spheroid is as default.
4. the virtual digit sculpting method based on natural gesture according to claim 1 is it is characterised in that described step S3
In, two triangle collision detection algorithm of three dimensions are as follows：
It is assumed that three dimensions haveABC withPQR, withOn the basis of the plane of ABC place, set up this plane normal, wherein, by
Triangle ABC place plane is in the space of * 0 division,It is * 1 for positive space,Space for negative sense is * 2；
According to the point P of triangle PQR, point Q, point R are each located space field（*1/*2/*0）Judgement, analyze collision situation；
UsingRespectively with,,The positive and negative values of inner product of vectors judge place space field（*1/*2/*0）：
As fruit dot P, point Q, 3 points of point R all * 1 or * 2, thenABC withPQR can not possibly intersect；
As fruit dot P, point Q, there is point in point R * 0, thenABC intersects certainly with * 0,ABC withPQR may intersect：
b1）This intersection point existsABC, then the point of impingement be this intersection point；
b2）Otherwise, continue c）Step judges；
c）As fruit dot P, point Q, 3 points of point R not entirely * 0 or * 1 or * 2, thenABC intersects certainly with * 0, according to intersection with face *'s 0
Similar triangles build, and vector projection is obtainedABC with * 0 intersection point；
c1）This intersection point existsABC, then the point of impingement be this intersection point；
c2）Otherwise, collisionless point；
Judge a little whether as follows in the algorithm of known triangle：Set upXYZ, point A existsOn XYZ, point B is outside；
ForThe point of XYZ has following feature：
Choose XY side, 2 points of A, Z is in the same side；Choose XZ side, 2 points of A, Y is in the same side；Choose YZ side, 2 points of A, X is same
Side；
It is related to a little whether in known plane point of intersection acquisition methods：
,,
Wherein PQ is calculated as follows with * 0 intersection point F：
Wherein：
.
5. the virtual digit sculpting method based on natural gesture according to claim 1 is it is characterised in that described step S3
In, the process of sculpture deformation algorithm is as follows：When finger constantly to sculpture close when, finger can be detected according to collision algorithm
Whether face and sculpture face produce collision, if producing collision, can calculate all of point of impingement；For each collision
Point, it is necessary to presetting distance will be offset towards some direction after producing collision, so that sculpture face produces shape
Become；
AssumeFor one of point of impingement,For distance on impingement areaA nearest point, thenThe collision distance of point is defined as foloows：
（1）
PointThe direction of motion can be defined as foloows：
（2）
There is collision distanceAnd the direction of motion, just can be by pointOffset accordingly；Will
Each point of impingement being calculated enters line displacement in this manner, then sculpture can be achieved with the function of deforming.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610810266.1A CN106406875B (en) | 2016-09-09 | 2016-09-09 | Virtual digit sculpting method based on natural gesture |
| PCT/CN2016/111383 WO2018045670A1 (en) | 2016-09-09 | 2016-12-21 | Virtual digital sculpting method based on natural hand gestures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610810266.1A CN106406875B (en) | 2016-09-09 | 2016-09-09 | Virtual digit sculpting method based on natural gesture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106406875A true CN106406875A (en) | 2017-02-15 |
| CN106406875B CN106406875B (en) | 2019-11-15 |
Family
ID=57998939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610810266.1A Expired - Fee Related CN106406875B (en) | 2016-09-09 | 2016-09-09 | Virtual digit sculpting method based on natural gesture |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106406875B (en) |
| WO (1) | WO2018045670A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334198A (en) * | 2018-02-09 | 2018-07-27 | 华南理工大学 | Virtual sculpting method based on augmented reality |
| CN109116992A (en) * | 2018-08-31 | 2019-01-01 | 北京航空航天大学 | A kind of collision response system for virtual hand force feedback interaction |
| CN109308741A (en) * | 2018-08-08 | 2019-02-05 | 长春理工大学 | A kind of natural interaction craftwork creative design system based on Meta2 |
| CN110070777A (en) * | 2019-06-13 | 2019-07-30 | 大连民族大学 | A kind of Hezhe's fish-skin draws simulation training system and implementation method |
| CN111429569A (en) * | 2020-03-30 | 2020-07-17 | 华南理工大学 | Human anatomy teaching method based on 5G + augmented reality |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109191365B (en) * | 2018-06-27 | 2022-11-25 | 杭州电子科技大学 | Three-dimensional space handwritten character dimension reduction method based on directed cuboid |
| CN113901881B (en) * | 2021-09-14 | 2024-05-03 | 燕山大学 | Myoelectricity data automatic labeling method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140240227A1 (en) * | 2013-02-26 | 2014-08-28 | Corel Corporation | System and method for calibrating a tracking object in a vision system |
| CN104866824A (en) * | 2015-05-17 | 2015-08-26 | 华南理工大学 | Manual alphabet identification method based on Leap Motion |
| WO2015123759A1 (en) * | 2014-02-21 | 2015-08-27 | Trispera Dental Inc. | Augmented reality dental design method and system |
| CN105354031A (en) * | 2015-11-09 | 2016-02-24 | 大连交通大学 | Leap Motion based 3D commodity display method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914873B (en) * | 2014-03-13 | 2016-07-06 | 南京大学 | A kind of sculpture threedimensional model driven according to human action generates method |
| CN104850226A (en) * | 2015-04-30 | 2015-08-19 | 北京农业信息技术研究中心 | Three-dimensional interactive fruit tree shape trimming method based on gesture recognition |
-
2016
- 2016-09-09 CN CN201610810266.1A patent/CN106406875B/en not_active Expired - Fee Related
- 2016-12-21 WO PCT/CN2016/111383 patent/WO2018045670A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140240227A1 (en) * | 2013-02-26 | 2014-08-28 | Corel Corporation | System and method for calibrating a tracking object in a vision system |
| WO2015123759A1 (en) * | 2014-02-21 | 2015-08-27 | Trispera Dental Inc. | Augmented reality dental design method and system |
| CN104866824A (en) * | 2015-05-17 | 2015-08-26 | 华南理工大学 | Manual alphabet identification method based on Leap Motion |
| CN105354031A (en) * | 2015-11-09 | 2016-02-24 | 大连交通大学 | Leap Motion based 3D commodity display method |
Non-Patent Citations (2)
| Title |
|---|
| 任雅祥: "基于手势识别的人机交互发展研究", 《计算机工程与设计》 * |
| 卢浩然 等: "基于Leap motion的三维文物虚拟拼接方法", 《***仿真学报》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334198A (en) * | 2018-02-09 | 2018-07-27 | 华南理工大学 | Virtual sculpting method based on augmented reality |
| CN108334198B (en) * | 2018-02-09 | 2021-05-14 | 华南理工大学 | Virtual sculpture method based on augmented reality |
| CN109308741A (en) * | 2018-08-08 | 2019-02-05 | 长春理工大学 | A kind of natural interaction craftwork creative design system based on Meta2 |
| CN109308741B (en) * | 2018-08-08 | 2023-04-07 | 长春理工大学 | Meta 2-based natural interaction handicraft creative design system |
| CN109116992A (en) * | 2018-08-31 | 2019-01-01 | 北京航空航天大学 | A kind of collision response system for virtual hand force feedback interaction |
| CN109116992B (en) * | 2018-08-31 | 2020-12-04 | 北京航空航天大学 | Collision response system for virtual hand force feedback interaction |
| CN110070777A (en) * | 2019-06-13 | 2019-07-30 | 大连民族大学 | A kind of Hezhe's fish-skin draws simulation training system and implementation method |
| CN110070777B (en) * | 2019-06-13 | 2021-07-09 | 大连民族大学 | Huchizhui fish skin painting simulation training system and implementation method |
| CN111429569A (en) * | 2020-03-30 | 2020-07-17 | 华南理工大学 | Human anatomy teaching method based on 5G + augmented reality |
| CN111429569B (en) * | 2020-03-30 | 2022-07-26 | 华南理工大学 | Human anatomy teaching method based on 5G + augmented reality |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106406875B (en) | 2019-11-15 |
| WO2018045670A1 (en) | 2018-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106406875B (en) | Virtual digit sculpting method based on natural gesture | |
| CN109003301B (en) | Human body posture estimation method based on OpenPose and Kinect and rehabilitation training system | |
| CN108983978A (en) | virtual hand control method and device | |
| Lee et al. | Model-based analysis of hand posture | |
| CN103386683B (en) | Kinect-based motion sensing-control method for manipulator | |
| CN109116992B (en) | Collision response system for virtual hand force feedback interaction | |
| CN103955267A (en) | Double-hand man-machine interaction method in x-ray fluoroscopy augmented reality system | |
| CN102142055A (en) | True three-dimensional design method based on augmented reality interactive technology | |
| CN103065348A (en) | Two-dimension animation automatic generating method based on skeleton motion database | |
| CN107818318B (en) | Humanoid robot simulation similarity evaluation method | |
| CN105904457B (en) | A kind of heterogeneous redundant mechanical arm control method based on position tracker and data glove | |
| CN111667560A (en) | Interaction structure and interaction method based on VR virtual reality role | |
| CN108334198A (en) | Virtual sculpting method based on augmented reality | |
| WO2023185703A1 (en) | Motion control method, apparatus and device for virtual character, and storage medium | |
| CN102930599A (en) | Hand motion three-dimensional simulation method based on dual quaternion | |
| CN106502416B (en) | A kind of driving simulation system and its control method of intelligent recognition bimanual input | |
| CN106512391B (en) | A kind of bimanual input recognition methods and the driving simulation system based on it, method | |
| CN105034006A (en) | Finger-guessing game robot based on LeapMotion apparatus and finger-guessing game gesture recognition method | |
| CN104156063B (en) | A kind of gesture speed estimation method towards three-dimension interaction interface | |
| CN110688006B (en) | Device and method for manufacturing pottery by real hand touch based on virtual reality technology | |
| CN113496168A (en) | Sign language data acquisition method, sign language data acquisition equipment and storage medium | |
| JP4669941B2 (en) | 3D design support device and program | |
| CN109102572A (en) | Power transformation emulates virtual hand bone ratio in VR system and estimates method | |
| CN113633937A (en) | Virtual reality upper limb rehabilitation operation treatment system | |
| CN107738256A (en) | A kind of teach-by-doing apery teaching robot's programing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191115 |