CN106406875B - Virtual digit sculpting method based on natural gesture - Google Patents
Virtual digit sculpting method based on natural gesture Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims description 45
- 210000000236 metacarpal bone Anatomy 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 13
- 210000003813 thumb Anatomy 0.000 claims description 10
- 235000013399 edible fruits Nutrition 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 6
- 210000004247 hand Anatomy 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 239000013598 vector Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 210000004553 finger phalanx Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 241000282806 Rhinoceros Species 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization 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
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
The present invention discloses the virtual digit sculpting method based on natural gesture, includes the following steps: that hand gesture location obtains, hand gesture location is acquired by Leap Motion；Virtual sculpture modeling.The present invention is in the task work for carrying out virtual sculpture there are two main models, and one is to have built the model for waiting sculpture, and one is the virtual hand model that joint coordinates building is obtained by Leap Motion；When manpower moves at Leap Motion and then control virtual hand and fixed waiting sculpture model generation slight impact, detection determines whether intersection point with the algorithm that three-dimensional space triangle intersects with triangle at collision, with intersection point intersection position, further according to the calculating of collision depth, real time modifying is carried out using virtual sculpture deformation algorithm and then by crosspoint position coordinates, to realize sculpture deformation effect.
Description
Technical field
The invention belongs to natural human-computer interaction field, in particular to a kind of virtual digit sculpture side based on natural gesture
Method.
Background technique
As advanced digitized instrument and equipment constantly put into practical application, the dimensional Modeling Technology under area of computer aided
The three-dimensional modeling including a variety of methods such as spatial digitizer, Image Based Rendering (IBMR) is had evolved to,
And computer aided design system function is stronger and stronger, but its using threshold it is also higher and higher, operation also come it is more complicated,
User needs to take a lot of trouble and the three-dimensional thinking of oneself accurately could be communicated to computer, largely limits designer's
Designed concept.Traditional three-dimensional modeling is mainly completed by 3 d modeling software such as 3DMax, Maya and rhinoceros etc., they
It is powerful can not set no, beginner has to spend certain energy that could grasp how to model, and threshold is higher, and operator
Also it is not easy the idea of oneself to clearly expressing, and completes the time of a more beautiful model after upper hand
Several hours are usually needed, it is external there are also carrying out three-dimensional modeling by VR and AR, but the model for building out is often
Too simple, practicability is not high.3D printer is very universal in daily life utilization, however is but difficult to promote to come, wherein most
Crucial reason has two o'clock: first is that the introduction of 3 d modeling software is relatively difficult, the people of irrelevant profession needs to spend very big essence
Power goes how study uses modeling software；Second is that the 3 d modeling software shape beyond expression of words for understanding thought object in the minds of people,
In terms of especially some details, that is often thought in the minds of people differs greatly with what software was drawn.So advanced optimizing
It is exactly the ideal implementation of people with functions such as the deformations of powerful virtual sculpture.
In each organ of human body, hand is most flexibly that people can mark various according to idea ratio in the heart
Gesture.The shape of object can be easily carved like icking tool is held in sculptor's hand, but according to foreign and domestic situation,
Domestic 3D modeling software function is powerful but to need to expend a large amount of time study of people and skilled software；And foreign countries is various light
It is relatively simple that Quantitative design Journal of Sex Research has obtained the model realized rapidly but can established.For above situation, focus on into one
Step optimization and powerful virtual sculpture function realize natural interactive mode fine sculpture effect simultaneously.It establishes and a kind of compares intelligence
It can the virtual sculpture of more natural, effective, with high fluidity the gesture in space.Based on two above phenomenon, we just think
Had complementary advantages.Virtual sculpture is carried out on computers using Leap motion by natural gesture, and is carried out fast
Fast three-dimensional modeling prints model then in conjunction with 3D printer.This addresses the problem the problem of current three-dimensional modeling difficulty,
Allow 3D printer towards masses, and threshold is low, easy popularization.
Summary of the invention
The method that this invention proposes permission users to carry out virtual sculpture by natural gesture in computer, the method
The natural human-computer interaction interface based on leap Motion contactless device has been used, user can be enabled intuitively to carry out void
Quasi- sculpture and the result feedback for observing sculpture in real time.
The purpose of the present invention is achieved through the following technical solutions.
Virtual digit sculpting method based on natural gesture, includes the following steps:
S1, hand gesture location obtain, and hand gesture location is acquired by Leap Motion；
S2, the modeling of virtual sculpture；
S3, model deformation, in the task work for carrying out virtual sculpture, there are two main models, and one is to have built
To the model of sculpture, one is the virtual hand model that joint coordinates building is obtained by Leap Motion；When manpower is in Leap
Virtual hand is moved and then controlled under Motion and slight impact occurs for fixed waiting sculpture model, and detection is at collision with three-dimensional space
Between the algorithm that intersects with triangle of triangle determine whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, benefit
Real time modifying is carried out with virtual sculpture deformation algorithm and then by crosspoint position coordinates, to realize sculpture deformation effect.
Further, the step S1 the following steps are included:
The data of hand gesture location are acquired by Leap Motion, and what virtual sculpture needed to use is finger
Sculpture is carried out, it would therefore be desirable to obtain the related data of finger, every hand can obtain the data of 5 fingers, 5 hands
Finger is respectively as follows:
(1) thumb (Thumb finger)
(2) index finger (Index finger)
(3) middle finger (Middle finger)
(4) nameless (Ring finger)
(5) little finger (Pinky finger)
Available its initial position start (X, Y, Z) of each finger, 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) proximal end bone Proximal bone
(3) intermedium Middle bone
(4) distal bone Distal bone
To each joint, also available its initial position start (X, Y, Z), final position end (X, Y, Z) and side
To direction (pitch, roll, yaw).
There are above data, the position of our available hands is also deposited since Leap Motion obtains gesture data
In certain error, anti-interference is not very strong, so we can carry out gesture data using mixing Kalman filtering
Fusion, the accuracy of such gesture data just improve very much, can be used for next gesture model and build.
Further, the step S2 the following steps are included:
(1) cylindrical body for indicating manpower joint is constructed using 3DMAX, being converted to suffix in OpenSceneGraph is
.osg nodal analysis method for use in scene processing.The phase in each joint of manpower is obtained followed by Leap Motion
Coordinate is answered, in the API of Leap Motion, finger is divided into 17 parts in the joint identification of manpower, is the palm that tail refers to respectively
Bone (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 metacarpal bone (Metacarpals), the nearside phalanges of distal phalange (Distal phalanges), index finger phalanges
(Proximal phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal
Phalanges), nearside phalanges (Proximal phalanges), the medial phalanges (Intermediate of thumb
Phalanges) and distal phalange (Distal phalanges) (the metacarpal bone length of thumb is set to 0), thus
Need to be constructed the model of manpower in OpenSceneGraph with 17 cylindrical bodies
(2) since the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, by leap
Motion is converted in incoming coordinate.With the direction of relative device level when the coordinate system that Leap Motion is used
For X-axis, the right is positive axis, and the vertical direction of relative device is Y-axis, is upwards positive axis, is in the horizontal plane direction vertical with X-axis
Z axis, to be directed toward the direction of user as positive axis, and in OpenSceneGraph using the direction of form level as X-axis, the right is positive
Axis, the vertical direction of form equipment are Z axis, are upwards positive axis, are Y-axis in the horizontal plane direction vertical with X-axis, are used with being directed toward
The direction of person is positive axis, therefore the Y-axis for needing will to be passed to when incoming coordinate data and Z axis are used in OpenSceneGraph
Data be exchanged with each other.A Group pointer is created in OpenSceneGraph as root node, is turned using the matrix of interior band
Exchange the letters number and the incoming each cylindrical body of coordinate combination processing, then root node is added to using 17 cylindrical bodies as node respectively
In, using osg::Viewer, it will be shown in scene.
(3) after having constructed virtual hand, it is also necessary to be constructed to virtual sculpture with mud, since sculpture is used in actual life
Mud is generally unsetting, therefore provides the preset model of virtual mud in use, i.e., constructs cuboid using 3dmax, square,
Cylinder, sphere is as default.
Further, the step S3 the following steps are included:
In the task work for carrying out virtual sculpture there are two main models, one is to build the mould for waiting sculpture
Type, one is the virtual hand model that joint coordinates building is obtained by Leap Motion.When manpower is moved at Leap Motion
And then virtual hand and fixed waiting sculpture model generation slight impact are controlled, it collides out and detects with three-dimensional space triangle and three
The algorithm of angular intersection determines whether intersection point, is become further according to the calculating of collision depth using virtual sculpture with intersection point intersection position
Crosspoint position coordinates are carried out certain real time modifying in turn by shape algorithm, to realize sculpture deformation effect.Involved in process
Main collision detection algorithm and virtual sculpture deformation algorithm are as detailed below.
Two triangle collision detection algorithms of three-dimensional space are as follows:
(1) assume that three-dimensional space hasABC withPQR, withOn the basis of plane where ABC, the plane normal is established,
Wherein, in the space that the plane (being set to * 0) where triangle ABC divides,It is * 1 for positive space,For the space of negative sense
It is * 2, is detailed in attached drawing 1.
(2) according to the point P of triangle PQR, point Q, point R respectively where space field (* 1/*2/*0) judgement, analysis touches
Hit situation.It utilizesRespectively with,,Inner product of vectors positive and negative values judgement where space field (* 1/*2/*0).
A) such as fruit dot P, point Q, 3 points of point R is * 1 or * 2, thenABC withPQR can not intersect；
B) there is point * 0, then in such as fruit dot P, point Q, point RABC intersects certainly with * 0,ABC withPQR may phase
It hands over:
B1) intersection point existsABC, then the point of impingement is the intersection point；
B2) otherwise, continue c) step to judge.
C) such as fruit dot P, point Q, 3 points of point R be not entirely * 0 or * 1 or * 2, thenABC intersects certainly with * 0, according to intersection with
The similar triangles of face * 0 construct, and vector projection is found outThe intersection point (being detailed in attached drawing 2) of ABC and * 0:
C1) intersection point existsABC, then the point of impingement is the intersection point；
C2) otherwise, collisionless point.
(3) judge a little whether be analyzed as follows in known triangle algorithm.Attached drawing 3 is established,XYZ, point A existOn XYZ, point
B is outside.
ForThe point of XYZ has the following characteristics that
The side XY is chosen, A, Z two o'clock is in the same side；The side XZ is chosen, A, Y two o'clock is in the same side；The side YZ, A are chosen, X two o'clock exists
The same side.
Wherein, whether attached drawing 3 are related to a little in known plane point of intersection acquisition methods:
,,
Such as PQ and * 0 intersection point F calculating is as follows:
Wherein:
<two>process of sculpture deformation algorithm is as shown in Fig. 4, when finger is constantly close to sculpture, is calculated according to collision
Method can detecte out whether finger face and sculpture face generate collision, collides if generated, can calculate all collisions
Point.For each point of impingement, after generating collision, it is necessary to a certain distance is deviated towards some direction, to make
It obtains sculpture face and generates certain deformation.
Assuming thatFor 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 motion, so that it may by pointIt carries out corresponding
Offset.Each calculated point of impingement of institute is deviated all in accordance with this mode, then sculpture can realize the function of deformation
Energy.
The present invention has the following advantages and effects with respect to the prior art:
This invention proposes a kind of permission operator and passes through three-dimensional gesture motion to complete on computer OSG platform
Virtual sculpture task.This interface based on Leap Motion obtains more accurate joint coordinates and realizes naturally man-machine friendship
Mutually, it applies on three-dimensional modeling sculpture, gets rid of the limitation of excessive physical unit.
Detailed description of the invention
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 that finger face and sculpture face generate Collision diagram.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail, and embodiments of the present invention are not limited thereto,
Place is not described in detail especially if having below, is that those skilled in the art can refer to the prior art and realize.
This example is included the following 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.
The step S1 the following steps are included:
The data of hand gesture location are acquired by Leap Motion, and what virtual sculpture needed to use is finger
Sculpture is carried out, it would therefore be desirable to obtain the related data of finger, every hand can obtain the data of 5 fingers, 5 hands
Finger is respectively as follows:
(1) Thumb finger
(2) Index finger
(3) Middle finger
(4) Ring finger
(5) Pinky finger；
Available its initial position start (X, Y, Z) of each finger, 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, also available its initial position start (X, Y, Z), final position end (X, Y, Z) and side
To direction (pitch, roll, yaw).
There are above data, the position of our available hands is also deposited since Leap Motion obtains gesture data
In certain error, anti-interference is not very strong, so we can carry out gesture data using mixing Kalman filtering
Fusion, the accuracy of such gesture data just improve very much, can be used for next gesture model and build.
The step S2 the following steps are included:
(1) cylindrical body for indicating manpower joint is constructed using 3DMAX, being converted to suffix in OpenSceneGraph is
.osg nodal analysis method for use in scene processing.The phase in each joint of manpower is obtained followed by Leap Motion
Coordinate is answered, in the API of Leap Motion, finger is divided into 17 parts in the joint identification of manpower, is the palm that tail refers to respectively
Bone (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 metacarpal bone (Metacarpals), the nearside phalanges of distal phalange (Distal phalanges), index finger phalanges
(Proximal phalanges), medial phalanges (Intermediate phalanges) and distal phalange (Distal
Phalanges), nearside phalanges (Proximal phalanges), the medial phalanges (Intermediate of thumb
Phalanges) and distal phalange (Distal phalanges) (the metacarpal bone length of thumb is set to 0), thus
Need to be constructed the model of manpower in OpenSceneGraph with 17 cylindrical bodies
(2) since the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, by leap
Motion is converted in incoming coordinate.With the direction of relative device level when the coordinate system that Leap Motion is used
For X-axis, the right is positive axis, and the vertical direction of relative device is Y-axis, is upwards positive axis, is in the horizontal plane direction vertical with X-axis
Z axis, to be directed toward the direction of user as positive axis, and in OpenSceneGraph using the direction of form level as X-axis, the right is positive
Axis, the vertical direction of form equipment are Z axis, are upwards positive axis, are Y-axis in the horizontal plane direction vertical with X-axis, are used with being directed toward
The direction of person is positive axis, therefore the Y-axis for needing will to be passed to when incoming coordinate data and Z axis are used in OpenSceneGraph
Data be exchanged with each other.A Group pointer is created in OpenSceneGraph as root node, is turned using the matrix of interior band
Exchange the letters number and the incoming each cylindrical body of coordinate combination processing, then root node is added to using 17 cylindrical bodies as node respectively
In, using osg::Viewer, it will be shown in scene.
(3) after having constructed virtual hand, it is also necessary to be constructed to virtual sculpture with mud, since sculpture is used in actual life
Mud is generally unsetting, therefore provides the preset model of virtual mud in use, i.e., constructs cuboid using 3dmax, square,
Cylinder, sphere is as default.
The step S3 the following steps are included:
In the task work for carrying out virtual sculpture there are two main models, one is to build the mould for waiting sculpture
Type, one is the virtual hand model that joint coordinates building is obtained by Leap Motion.When manpower is moved at Leap Motion
And then virtual hand and fixed waiting sculpture model generation slight impact are controlled, it collides out and detects with three-dimensional space triangle and three
The algorithm of angular intersection determines whether intersection point, is become further according to the calculating of collision depth using virtual sculpture with intersection point intersection position
Crosspoint position coordinates are carried out certain real time modifying in turn by shape algorithm, to realize sculpture deformation effect.Involved in process
Main collision detection algorithm and virtual sculpture deformation algorithm are as detailed below.
<one>two triangle collision detection algorithms of main three-dimensional space are as follows during:
(1) assume that three-dimensional space hasABC withPQR, withOn the basis of plane where ABC, the plane normal is established,
Wherein, in the space that the plane (being set to * 0) where triangle ABC divides,It is * 1 for positive space,For the space of negative sense
It is * 2, is detailed in attached drawing 1.
(2) according to the point P of triangle PQR, point Q, point R respectively where space field (* 1/*2/*0) judgement, analysis touches
Hit situation.It utilizesRespectively with,,Inner product of vectors positive and negative values judgement where space field (* 1/*2/*0).
C) such as fruit dot P, point Q, 3 points of point R is * 1 or * 2, thenABC withPQR can not intersect；
D) there is point * 0, then in such as fruit dot P, point Q, point RABC intersects certainly with * 0,ABC withPQR may phase
It hands over:
B1) intersection point existsABC, then the point of impingement is the intersection point；
B2) otherwise, continue c) step to judge.
C) such as fruit dot P, point Q, 3 points of point R be not entirely * 0 or * 1 or * 2, thenABC intersects certainly with * 0, according to intersection with
The similar triangles of face * 0 construct, and vector projection is found outThe intersection point (being detailed in attached drawing 2) of ABC and * 0:
C1) intersection point existsABC, then the point of impingement is the intersection point；
C2) otherwise, collisionless point.
(3) judge a little whether be analyzed as follows in known triangle algorithm.Attached drawing 3 is established,XYZ, point A existOn XYZ, point
B is outside.
ForThe point of XYZ has the following characteristics that
The side XY is chosen, A, Z two o'clock is in the same side；The side XZ is chosen, A, Y two o'clock is in the same side；The side YZ, A are chosen, X two o'clock exists
The same side.
Wherein, whether attached drawing 3 are related to a little in known plane point of intersection acquisition methods:
,,
Such as PQ and * 0 intersection point F:
<two>process of sculpture deformation algorithm is as shown in Fig. 4, when finger is constantly close to sculpture, is calculated according to collision
Method can detecte out whether finger face and sculpture face generate collision, collides if generated, can calculate all collisions
Point.For each point of impingement, after generating collision, it is necessary to a certain distance is deviated towards some direction, to make
It obtains sculpture face and generates certain deformation.
Assuming thatFor 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 motion, so that it may by pointIt carries out corresponding
Offset.Each calculated point of impingement of institute is deviated all in accordance with this mode, then sculpture can realize the function of deformation
Energy.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (4)
1. the virtual digit sculpting method based on natural gesture, it is characterised in that include the following steps:
S1, hand gesture location obtain, and hand gesture location is acquired by Leap Motion；
S2, the modeling of virtual sculpture；The following steps are included:
(1) cylindrical body for indicating manpower joint is constructed using 3DMAX, being converted to suffix in OpenSceneGraph is .osg's
Nodal analysis method for use in scene processing；The corresponding coordinate in each joint of manpower is obtained followed by Leap Motion,
In the API of Leap Motion, finger is divided into 19 parts in the joint identification of manpower, is metacarpal bone, nearside that tail refers to respectively
Phalanges, medial phalanges and distal phalange, nameless metacarpal bone, nearside phalanges, medial phalanges and distal phalange, the palm of middle finger
Bone, nearside phalanges, medial phalanges and distal phalange, metacarpal bone, nearside phalanges, medial phalanges and the distal phalange of index finger, thumb
Nearside phalanges, medial phalanges and distal phalange, the metacarpal bone length of thumb is set to 0, so needing in OpenSceneGraph
The model of manpower is constructed with 19 cylindrical bodies；
(2) since the coordinate system in Leap Motion is different from the coordinate system in OpenSceneGraph, by leap
Motion is converted in incoming coordinate；With the direction of relative device level when the coordinate system that Leap Motion is used
For X-axis, the right is positive axis, and the vertical direction of relative device is Y-axis, is upwards positive axis, is in the horizontal plane direction vertical with X-axis
Z axis, to be directed toward the direction of user as positive axis, and in OpenSceneGraph using the direction of form level as X-axis, the right is positive
Axis, the vertical direction of form equipment are Z axis, are upwards positive axis, are Y-axis in the horizontal plane direction vertical with X-axis, are used with being directed toward
The direction of person is positive axis, therefore the Y-axis for needing will to be passed to when incoming coordinate data and Z axis are used in OpenSceneGraph
Data be exchanged with each other；A Group pointer is created in OpenSceneGraph as root node, is turned using the matrix of interior band
Exchange the letters number and the incoming each cylindrical body of coordinate combination processing, then root section is added to using 19 cylindrical bodies as node node respectively
In point, 19 cylindrical bodies of finger are shown in the scene using osg::Viewer；
After having constructed virtual hand, it is also necessary to be constructed to virtual sculpture with mud, since sculpture mud is general in actual life
It is unsetting, therefore the preset model of virtual mud is provided in use, i.e., cuboid is constructed using 3dmax, square, cylinder,
Sphere is as default；
S3, model deformation, in the task work for carrying out virtual sculpture there are two main models, one is to have built waiting carving
The model of modeling, one is the virtual hand model that joint coordinates building is obtained by Leap Motion；When manpower is in Leap Motion
Slight impact occurs for lower movement and then control virtual hand and fixed waiting sculpture model, and detection is at collision with three-dimensional space triangle
The algorithm that shape intersects with triangle determines whether intersection point, and intersection point intersection position, further according to the calculating of collision depth, using virtual
Crosspoint position coordinates are carried out real time modifying in turn by sculpture deformation algorithm, to realize sculpture deformation effect.
2. the virtual digit sculpting method according to claim 1 based on natural gesture, it is characterised in that the step S1
The following steps are included:
Hand gesture location is obtained by Leap Motion, needs to obtain the related data of finger, every hand can obtain 5 hands
The data of finger, 5 fingers are respectively thumb, index finger, 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, four joints: metacarpal bone, proximal end bone, intermedium, distal bone are divided into；
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 position in one's hands, due to Leap Motion obtain gesture data there is also
Error improves accuracy using mixing Kalman filtering to carry out fusion to gesture data, to be used for next virtual sculpture
Modeling.
3. the virtual digit sculpting method according to claim 1 based on natural gesture, it is characterised in that the step S3
In, two triangle collision detection algorithms of three-dimensional space are as follows:
(1) assume that three-dimensional space has Δ ABC and Δ PQR, on the basis of plane where Δ ABC, establish the plane normalWherein,
In the space that plane, that is, * 0 where triangle ABC divides,It is * 1 for positive space,Space for negative sense is * 2；
(2) according to the point P of triangle PQR, point Q, point R respectively where space field (* 1/*2/*0) judgement, analysis collision feelings
Condition；It utilizesRespectively withInner product of vectors positive and negative values judgement where space field (* 1/*2/*0):
A) such as fruit dot P, point Q, 3 points of point R is * 1 or * 2, then Δ ABC can not intersect with Δ PQR；
B) there is point * 0 in such as fruit dot P, point Q, point R, then Δ ABC intersects certainly with * 0, and Δ ABC may intersect with Δ PQR:
B1) intersection point is in Δ ABC, then the point of impingement is the intersection point；
B2) otherwise, continue c) step to judge；
C) such as fruit dot P, point Q, 3 points of point R be not entirely * 0 or * 1 or * 2, then Δ ABC intersects certainly with * 0, according to intersection and face * 0
Similar triangles building, vector projection finds out the intersection point of Δ ABC Yu * 0；
C1) intersection point is in Δ ABC, then the point of impingement is the intersection point；
C2) otherwise, collisionless point；
(3) judge a little whether as follows in the algorithm of known triangle: establishing Δ XYZ, point A is on Δ XYZ, and point B is outside；
Point in Δ XYZ is had the following characteristics that
The side XY is chosen, A, Z two o'clock is in the same side；The side XZ is chosen, A, Y two o'clock is in the same side；The side YZ is chosen, A, X two o'clock is same
Side；
Whether it is related to a little in known plane point of intersection acquisition methods:
Wherein PQ and * 0 intersection point F is calculated as follows:
Wherein:
4. the virtual digit sculpting method according to claim 1 based on natural gesture, it is characterised in that the step S3
In, the process of sculpture deformation algorithm is as follows: when finger is constantly close to sculpture, can detecte out finger according to collision algorithm
Whether face and sculpture face generate collision, collide if generated, can calculate all points of impingement；For each collision
Point, after generating collision, it is necessary to presetting distance is deviated towards some direction, so that sculpture face generates shape
Become；
Assuming that P (px,py,pz) it is one of point of impingement, Q (qx,qy,qz) it is the point that distance P is nearest on impingement area, then P
The collision distance of point is defined as foloows:
The direction of motion of point P can be defined as foloows:
Orientation (P)=(qx-px,qy-py,qz-pz) (2)
There are collision distance Distance (P) and direction of motion Orientation (P), point P can be deviated accordingly；
Each calculated point of impingement of institute is deviated all in accordance with this mode, then sculpture can be achieved with the function of deformation.
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| CN110070777B (en) * | 2019-06-13 | 2021-07-09 | 大连民族大学 | Huchizhui fish skin painting simulation training system and implementation method |
| CN111429569B (en) * | 2020-03-30 | 2022-07-26 | 华南理工大学 | Human anatomy teaching method based on 5G + augmented reality |
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