CN111080757B - Drawing method based on inertial measurement unit, drawing system and computing system thereof - Google Patents
Drawing method based on inertial measurement unit, drawing system and computing system thereof Download PDFInfo
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Abstract
A painting method based on an inertial measurement unit, a painting system and a computing system thereof. The drawing method based on the inertial measurement unit comprises the following steps: obtaining motion trail data of a drawing tool, wherein the motion trail data comprises at least one group of inertial data of the drawing tool in a drawing scene, which is acquired by the inertial measurement unit; and drawing at least one virtual line by processing the motion trail data of the drawing tool.
Description
Technical Field
The invention relates to the technical field of painting, in particular to a painting method based on an inertial measurement unit, a painting system and a computing system thereof.
Background
In conventional painting neighborhoods, brushes are often provided with stylized pens, brushes, nicks, etc., which allow the creator to draw lines on objects such as paper or board to create a lifelike drawing.
However, since the conventional art of painting is limited by the fact that the brushes must be drawn on a tangible carrier (e.g., paper or board), the work created by the conventional painting must have an imaged carrier. This is inevitably limited by the spatial morphology of the carrier, resulting in the inability of the creator to create a more open artwork at will.
Disclosure of Invention
It is an object of the present invention to provide a drawing method based on an inertial measurement unit, a drawing system and a computing system thereof, which can eliminate any need for an imaging carrier, so as to remove the limitation of the imaging carrier to drawing.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, and a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on the inertial measurement unit can draw a three-dimensional virtual line so as to construct a three-dimensional work.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, and a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on the inertial measurement unit can draw in a drawing scene, which is helpful for improving the flexibility of drawing.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on the inertial measurement unit can expand a drawing scene to an entire real environment, which is helpful for drawing a large scene.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, and a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on an inertial measurement unit helps to increase the interest of drawing, is a sensory stimulus for a user, and is especially applied to the field of education of children, and can excite children's love and enthusiasm for drawing.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, and a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on an inertial measurement unit is capable of providing a user with drawing feedback, which helps to preserve the drawing advantages of the conventional drawing method.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on the inertial measurement unit can draw by adopting a drawing process similar to that of a conventional brush, which is beneficial for a user to quickly get his hands.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on the inertial measurement unit can enable an author to maintain an original drawing habit during a drawing process, and no special learning adaptation is required.
Another object of the present invention is to provide a drawing method based on an inertial measurement unit, a drawing system and a computing system thereof, wherein in an embodiment of the present invention, the drawing method based on an inertial measurement unit can draw in both a static scene and a moving scene, which is helpful for further expanding the application range of the drawing method based on an inertial measurement unit.
To achieve at least one of the above or other objects and advantages, the present invention provides a painting method based on an inertial measurement unit, comprising the steps of:
obtaining motion trail data of a drawing tool, wherein the motion trail data comprises at least one group of inertial data of the drawing tool in a drawing scene, which is acquired by the inertial measurement unit; and
and drawing at least one virtual line by processing the motion trail data of the drawing tool.
In an embodiment of the present invention, the step of drawing at least one virtual line by processing the motion trajectory data of the drawing tool includes the steps of:
establishing a scene coordinate system based on the painting scene;
processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and
And fitting the at least one virtual line based on the at least one set of pose data.
In an embodiment of the present invention, in the step of drawing at least one virtual line by processing the motion trajectory data of the drawing tool, the method further includes the steps of:
obtaining a line parameter control instruction sent by the drawing tool; and
and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
In an embodiment of the present invention, the line parameter is selected from any one or a combination of several of the group consisting of line color, line thickness, and line type.
In one embodiment of the present invention, in the step of establishing a scene coordinate system based on the painting scene,
the scene coordinate system is in a stationary state relative to the world coordinate system.
In one embodiment of the present invention, in the step of establishing a scene coordinate system based on the painting scene,
the scene coordinate system is in a uniform linear motion state relative to the world coordinate system.
In an embodiment of the invention, the painting method based on the inertial measurement unit further includes the steps of:
outputting the virtual line to a display unit so as to display the virtual line through the display unit.
In an embodiment of the invention, the virtual line is relatively stationary to the scene coordinate system.
In an embodiment of the invention, the painting method based on the inertial measurement unit further includes the steps of:
obtaining scene data of the painting scene;
processing the scene data to construct a virtual scene; and
and fusing the at least one virtual line with the virtual scene to obtain a virtual fusion object, wherein the virtual fusion object is used for simulating the motion trail of the drawing tool in the drawing scene.
In an embodiment of the invention, the painting method based on the inertial measurement unit further includes the steps of:
the virtual fusion object is output to a display unit to display the virtual fusion object through the display unit.
In one embodiment of the present invention, the virtual line is relatively stationary to the virtual scene.
In one embodiment of the invention, the virtual lines have a three-dimensional structure to construct a three-dimensional pictorial representation.
According to another aspect of the present invention, there is further provided a painting system based on an inertial measurement unit, comprising:
The first acquisition module is used for acquiring motion trail data of a drawing tool, wherein the motion trail data comprise at least one group of inertial data of the drawing tool in a drawing scene, which are acquired by the inertial measurement unit; and
and the drawing module is used for drawing at least one virtual line by processing the motion trail data of the drawing tool.
In an embodiment of the invention, the drawing module is further configured to establish a scene coordinate system based on the drawing scene; processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and fitting the at least one virtual line based on the at least one set of pose data.
In an embodiment of the present invention, the drawing module is further configured to obtain a line parameter control instruction sent by the drawing tool; and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
In an embodiment of the invention, the drawing system based on the inertial measurement unit further includes an output module, wherein the output module is configured to output the virtual line to a display unit, so as to display the virtual line through the display unit.
In an embodiment of the invention, the painting system based on the inertial measurement unit further includes a second obtaining module, a constructing module, and a fusing module, where the second obtaining module is configured to obtain scene data of the painting scene; the construction module is used for processing the scene data to construct a virtual scene; the fusion module is used for obtaining a virtual fusion object by fusing the at least one virtual line with the virtual scene, wherein the virtual fusion object is used for simulating the motion trail of the drawing tool in the drawing scene.
In an embodiment of the invention, the drawing system based on the inertial measurement unit further includes an output module, wherein the output module is configured to output the virtual fusion object to a display unit, so as to display the virtual line through the display unit.
According to another aspect of the present invention, there is further provided a computing system comprising:
a logic machine for executing the instructions; and
a storage machine, wherein the storage machine is configured to hold machine readable instructions executable by the logic machine to implement any of the inertial measurement unit-based painting methods described above.
In an embodiment of the present invention, the computing system further includes a display subsystem and an input subsystem, where the display subsystem is used for displaying virtual lines drawn by the logic machine, and the input subsystem is used for inputting various control instructions.
In an embodiment of the present invention, the computing system further includes a display subsystem and an input subsystem, wherein the display subsystem is used for displaying the virtual fusion object fused by the logic machine, and the input subsystem is used for inputting various control instructions.
According to another aspect of the present invention there is further provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a computing device, are operable to perform the inertial measurement unit based painting method of any of the above.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
Fig. 1 is a flow chart of a drawing method based on an inertial measurement unit according to an embodiment of the invention.
Fig. 2 shows one schematic drawing scenario by the inertial measurement unit-based drawing method according to the above embodiment of the present invention.
Fig. 3 shows another schematic drawing scenario by the inertial measurement unit-based drawing method according to the above-described embodiment of the present invention.
Fig. 4 is a block diagram of a drawing tool according to the above embodiment of the present invention.
Fig. 5 is a flow chart of a drawing method based on an inertial measurement unit according to an embodiment of the invention.
Fig. 6 is a block diagram of a drawing tool according to the above embodiment of the present invention.
Fig. 7 is a block diagram schematic of a drawing system based on an inertial measurement unit according to an embodiment of the invention.
FIG. 8 is a block diagram schematic of a computing system according to an embodiment of the invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
In the present invention, the terms "a" and "an" in the claims and specification should be understood as "one or more", i.e. in one embodiment the number of one element may be one, while in another embodiment the number of the element may be plural. The terms "a" and "an" are not to be construed as unique or singular, and the term "the" and "the" are not to be construed as limiting the amount of the element unless the amount of the element is specifically indicated as being only one in the disclosure of the present invention.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through a medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Schematic method
Since the traditional art of painting is limited by the fact that the brushes must be drawn on a tangible carrier (e.g., paper or board), the work created by the traditional painting must have an imaged carrier. This is inevitably limited by the spatial morphology of the carrier, resulting in the inability of the creator to create a more open artwork at will.
Referring to fig. 1 to 4 of the drawings, an inertial measurement unit-based painting method according to an embodiment of the present invention is illustrated, wherein the inertial measurement unit-based painting method enables a user to dispense with any patterned carrier during painting so as to remove the restriction of the patterned carrier on painting.
As shown in fig. 1, the drawing method based on the inertial measurement unit includes the steps of:
s110: obtaining motion trail data of a drawing tool, wherein the motion trail data comprises at least one group of inertial data of the drawing tool in a drawing scene, which is acquired by the inertial measurement unit; and
s120: and drawing at least one virtual line by processing the motion trail data of the drawing tool.
Further, as shown in fig. 1, the drawing method based on the inertial measurement unit further includes the steps of:
s130: outputting the virtual line to a display unit so as to display the virtual line through the display unit.
It will be appreciated by those skilled in the art that inertial measurement units (Inertial measurement unit, IMUs for short) typically include accelerometers and gyroscopes, and that inertial data such as displacement, acceleration, and angular velocity can be measured. Therefore, the inertial measurement unit is only required to be fixed on an object to be measured, so that the inertial data of the moving object can be measured in real time, and the moving state of the object can be obtained. For example, the inertial measurement unit is commonly used in smart phones, vehicles, unmanned aerial vehicles, etc. where navigation is required.
Illustratively, as shown in fig. 2 to 4, the drawing tool 800 includes an inertial measurement unit 810 and a processing unit 820 configured to the drawing tool 800, and inertial data (such as acceleration and angular velocity) of the drawing tool 800 in a drawing scene 1000 is first measured by the inertial measurement unit 810 to obtain movement trace data of the drawing tool 800 in the drawing scene 1000; then, the processing unit 820 obtains and processes the motion trail data of the drawing tool 800, and draws at least one virtual line, so that the virtual line can simulate the motion trail of the drawing tool 800 in the drawing scene 1000.
For example, the inertial measurement unit 810 is rigidly fixed to the drawing tool 800 by a mechanical structure, so that when the drawing tool 800 is moving, the drawing tool 800 and the inertial measurement unit 810 have no relative displacement or/and rotation, so as to ensure that the motion states of the inertial measurement unit 810 and the drawing tool 800 are consistent, and thus the motion state of the drawing tool 800 can be simulated by the inertial measurement unit 810, so as to obtain the motion track of the drawing tool 800.
Further, the processing unit 820 is illustratively responsible for data processing, interaction, logic control, rendering, drawing, etc. Further, the processing objects of the processing unit 820 are mainly inertial data and brush control instructions.
It should be noted that, since the inertial measurement unit 810 can measure the inertial data of the movement of the drawing tool 800 in the three-dimensional drawing scene, so that the virtual line can simulate the movement track of the drawing tool in the three-dimensional drawing scene, the drawing method based on the inertial measurement unit can expand the drawing space into the three-dimensional real environment, so as to get rid of the limitation of the imaging carrier on the drawing.
Preferably, as shown in fig. 2 and 3, the drawing tool 800 may be implemented as, but is not limited to, a brush-type electronic device equipped with the inertial measurement unit 810 to move the drawing tool 800 in the drawing scene in a manner of being held by a user's hand, which enables the user to draw by using a drawing process similar to a conventional brush so that the user maintains an original drawing habit during the drawing process, and does not need a special learning adaptation, thereby facilitating the user to quickly get his hands. Of course, in other examples of the invention, the drawing tool 800 may also be moved relative to the scene coordinate system by a robotic arm.
More specifically, as shown in fig. 1, in the drawing method based on the inertial measurement unit, the step S120 includes the steps of:
s121: establishing a scene coordinate system based on the painting scene;
s122: processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and
s123: and fitting the at least one virtual line based on the at least one set of pose data.
As will be appreciated by those skilled in the art, based on the inertial data acquired by the inertial measurement unit 810, pose data of the drawing tool relative to the scene coordinate system may be obtained. Here, the pose data of the drawing tool 800 with respect to the scene coordinate system includes a position vector and a rotation vector of the drawing tool with respect to the scene coordinate system.
Notably, the scene coordinate system OC-XCYCZC may be implemented, but is not limited to, as a reference coordinate system relatively stationary to the world coordinate system OW-XWYWZW to acquire pose data of the drawing tool relative to a stationary drawing scene (e.g., room 1001, etc.) by the inertial measurement unit to obtain a virtual line describing a motion trajectory of the drawing tool 800 in the room 1001.
By way of example, fig. 2 shows a schematic scenario of the inertial measurement unit-based painting method according to the present invention, wherein the scenario coordinate system OC-XCYCZC is established in a stationary room 1001, and when the painting tool 800 is held to make a circular motion in the room 1001, the inertial measurement unit 810 moves synchronously with the painting tool 800 to acquire a set of inertial data of the painting tool 800 in the room 1001, i.e. motion trajectory data of the painting tool 800 in the room 1001, by the inertial measurement unit 810, and thereby obtain a set of pose data of the painting tool 800 with respect to the scenario coordinate system OC-XCYCZC (represented by points with arrows in the figure, wherein the arrows represent instantaneous directions of motion and the coordinates of the points represent instantaneous positions); and then, spline processing is carried out on the pose data according to the time sequence and the direction of the pose data, and the virtual line with the annular structure is drawn so as to simulate the motion track of the drawing tool 800 in the room 1001 through the virtual line. At this time, the pose data is relatively stationary to the scene coordinate system, i.e., the pose data is relatively stationary to the room 1001, so that the pose data is relatively stationary to the world coordinate system.
In other examples of the present invention, the scene coordinate system OC-XCYCZC may also be implemented as a reference coordinate system in a uniform linear motion state with respect to the world coordinate system OW-XWYWZW, so as to acquire pose data of the drawing tool 800 with respect to a moving drawing scene (e.g., a vehicle 1002 running at a uniform speed, etc.) through the inertial measurement unit 810, thereby obtaining a virtual line for simulating a motion trajectory of the drawing tool 800 in the vehicle 1002.
By way of example, fig. 3 shows another schematic scenario of the inertial measurement unit-based painting method according to the present invention, in which a vehicle 1002 traveling straight at a constant speed establishes the scene coordinate system OC-XCYCZC, and when the painting tool 800 is held to make a circular motion in the vehicle 1002, the inertial measurement unit 810 moves synchronously with the painting tool 800 to acquire a set of inertial data of the painting tool 800 in the vehicle 1002, that is, motion trajectory data of the painting tool 800 in the vehicle 1002, by the inertial measurement unit 810, so as to obtain a set of pose data of the painting tool 800 with respect to the scene coordinate system OC-XCYCZC (in the figure, indicated by points with arrows indicating instantaneous motion directions, and coordinates of the points indicating instantaneous positions); then, fitting is performed on the pose data to draw a ring-shaped virtual line, so that the motion track of the drawing tool 800 in the vehicle 1002 is simulated through the virtual line. At this time, the pose data is relatively stationary to the scene coordinate system, that is, the pose data is relatively stationary to the vehicle 1002, so that the pose data is in a uniform linear motion state with respect to the world coordinate system.
It should be noted that, after the motion trail data of the drawing tool 800 is obtained, the obtained motion trail data of the drawing tool 800 is processed to draw at least one virtual line. In this way, the motion trail of the drawing tool 800 relative to the scene coordinate system can be simulated by the virtual line, so that a user can draw a required line by merely waving the drawing tool 800 without any imaging carrier, so as to break away from the limitation of the imaging carrier for drawing creation.
In addition, since the inertial measurement unit 810 can acquire pose data of the drawing tool 800 with respect to the three-dimensional scene coordinate system, a three-dimensional virtual object (virtual solid object) can be constructed by different morphologies or shapes of the virtual line, thereby obtaining a three-dimensional pictorial representation. Of course, in other examples of the present invention, the virtual line may be subjected to a dimension-reducing process to obtain a two-dimensional virtual line, so that a two-dimensional virtual object (virtual planar object) is constructed from the two-dimensional virtual line, thereby obtaining a two-dimensional pictorial representation.
It should be noted that, as shown in fig. 1, in the drawing method based on the inertial measurement unit of the present invention, the step 120 further includes the steps of:
s124: obtaining a line parameter control instruction sent by the drawing tool; and
s125: and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
It is noted that the line parameters of the virtual line may include one or more of line color, line thickness, and line type.
Illustratively, as shown in fig. 4, the drawing tool 800 further includes a drawing control unit 830, wherein the drawing control unit 830 is composed of a knob and a switch button for controlling three main attributes/parameters of color, thickness, and type of line. The three attributes are switched through three knobs arranged on the drawing tool 800, the knobs are common mechanical knobs, attribute states are adjusted through angle rotation to generate corresponding line parameter control instructions, and different angle ranges correspond to different attribute values according to software-defined switching logic; the switch button is a spring button of active recovery type, is pressed to be in an activated state, generates an IMU signal to activate a drawing command at the moment, and automatically returns a key to an inactive state after the key spring is released, wherein the IMU signal disappears and does not activate the drawing command at the moment.
According to this embodiment of the present invention, after the virtual line is drawn, the virtual line may also be output to a display unit, so that the virtual line is displayed by the display unit.
Illustratively, as shown in fig. 4, the drawing tool 800 further includes a display unit 840, wherein the display unit 840 can display the image of the virtual line, so that the user can obtain drawing feedback. It will be appreciated that the display unit may have different display configurations.
For example, the display unit 840 may display the virtual line by means of projection to directly project the virtual line to the painting scene 1000 through the display unit 840 such as a projector or AR glasses, etc., so as to allow people to intuitively observe the virtual line to obtain painting feedback, providing a very rich and attractive augmented reality experience for users. In this way, the virtual line is relatively stationary to the drawing scene 1000, and does not move or rotate relative to the drawing scene 1000 to keep the posture of the virtual line stable, thereby facilitating the drawing creation of the user.
Of course, in other examples of the present invention, the display unit 840 may also display the virtual line by means of a developing manner, so as to superimpose the virtual line on a virtual scene through the display unit 840 such as a display screen, VR glasses, a smart phone or a television, etc., so that a user and/or others can intuitively observe the drawn virtual line to obtain drawing feedback, and help to make adjustments to the drawn virtual line or continue drawing subsequent virtual lines. It is understood that the virtual scene may be any three-dimensional virtual space to simulate the real painting scene 1000, and further simulate the motion trace of the painting tool 800 in the painting scene 1000 through the positional relationship between the virtual line and the virtual scene.
At this time, the virtual line is relatively stationary to the virtual scene so that the virtual line appears to be stationary with respect to the virtual scene in order to truly simulate the motion trail of the drawing tool 800 in the drawing scene 1000.
Preferably, in the step S130, the virtual line is output to the display unit in real time, so that the virtual line is displayed in real time by the display unit, so that people can obtain drawing feedback in real time, so as to grasp the drawn line in time, and the drawing advantage in the traditional drawing method is maintained.
Illustratively, as shown in fig. 4, the drawing tool 800 further includes a communication unit 850, wherein the communication unit 850 communicatively connects the inertial measurement unit 810, the drawing control unit 830, and the display unit 840 with the processing unit 820, respectively, for transmitting the inertial data and the line parameter control instruction to the processing unit 820 in real time, and transmitting the drawn virtual line data to the display unit 840 in real time for display, thereby enabling real-time data communication.
For example, in this embodiment of the present invention, the communication unit 850 may be, but is not limited to being, implemented as a wireless transmission module such as WIFI or bluetooth, etc., to enable data communication by way of wireless transmission. Of course, in other examples of the present invention, the communication unit 850 may also implement data communication by wired transmission through a wired transmission module such as a data line, an optical fiber, an electric wire, and the like.
Referring to fig. 5 of the drawings, a drawing method based on an inertial measurement unit according to another embodiment of the present invention is illustrated, wherein the drawing method based on an inertial measurement unit includes the steps of:
s210: obtaining motion trail data of a drawing tool, wherein the motion trail data comprises at least one group of inertial data of the drawing tool in a drawing scene, which is acquired by the inertial measurement unit;
s220: drawing at least one virtual line by processing the motion trail data;
s230: obtaining scene data of the painting scene;
s240: constructing a virtual scene by processing the scene data; and
s250: and fusing the at least one virtual line with the virtual scene to obtain a virtual fusion object, wherein the virtual line is relatively static to the virtual scene.
Further, in this embodiment of the present invention, as shown in fig. 5, the drawing method based on the inertial measurement unit further includes the steps of: s260: outputting the virtual fusion object to a display unit so as to display the virtual fusion object through the display unit.
Notably, the scene data can be obtained by capturing a drawing scene 1000 (e.g., a room 1001 or a vehicle 1002) in which the drawing tool 800 is located by a sensor such as a video camera, a camera, and/or a distance sensor (e.g., a lidar or millimeter wave lidar), etc., which enables the virtual scene to simulate the drawing scene 1000 in which the drawing tool 800 is located. In this way, the virtual fusion object can simulate the motion trail of the drawing tool 800 in the drawing scene 1000, since the virtual line is relatively stationary to the virtual scene, that is, the virtual line appears to be stationary with respect to the virtual scene, such that the at least one virtual line can be superimposed to the virtual scene in a certain spatial correspondence to obtain the virtual fusion object.
Preferably, the virtual scene is relatively stationary to the scene coordinate system and the virtual line is also relatively stationary to the scene coordinate system. The virtual line is thus relatively stationary to the drawing scene 1000 such that the virtual line appears to be stationary relative to the drawing scene 1000, and thus the virtual fusion object can truly simulate the motion trajectory of the drawing tool 800 in the drawing scene 1000.
Illustratively, as shown in fig. 6, the drawing tool 800 includes a scene acquisition unit 860 in addition to the inertial measurement unit 810, the processing unit 820, the drawing control unit 830, the display unit 840, and the communication unit 850, wherein the scene acquisition unit 860 is configured to acquire scene data of the drawing scene 1000, and transmit the scene acquisition unit 860 to the processing unit 820 through the communication unit 850, so as to obtain the virtual scene by processing the scene data through the processing unit 820. The scene acquisition unit 860 may be implemented by multi-sensor information fusion. For example, the scene acquisition unit 860 may extract color images of the surrounding environment through a CMOS or CCD camera, and transmit the image information to the processing unit 820 in real time, and the camera may implement 6 degrees of freedom motion (translational rotation) in space, such motion may be implemented by a 6 degree of freedom mechanical arm, or may be a simple hand-held motion; the scene acquisition unit 860 can adopt a distributed temperature sensor or a simple temperature-sensitive resistor through a temperature sensor according to specific creation requirements, and is used for acquiring environmental temperature information; the scene acquisition unit 860 can accurately model the surrounding environment position by a distance sensor such as a laser radar or millimeter wave radar, etc., and at the same time, the distance sensor must move synchronously with the camera to achieve the purpose of matching the environment position with the picture.
Furthermore, the environmental collection unit 860 may increase or decrease the sensor configuration as actually needed, i.e., the environmental collection unit 860 may be a single or a random combination of multiple sensors.
It should be noted that, in an example of the present invention, the painting method based on the inertial measurement unit may include the following operation procedures:
(1) The user adjusts the line parameter settings required for the current drawing through the set knob 830 on the drawing tool 800.
(2) The communication unit 850 transmits the currently set line parameter control instruction to the processing unit 820.
(3) The processing unit 820 acquires the control command of the drawing tool 800 through interrupt monitoring, synchronizes the command into the setting of the drawing line, serves as the current setting value of the drawing line, and gives real-time feedback to the user through the display unit 840.
(4) The user presses a switch button on the brush to perform drawing activation while moving the drawing tool 800 to collect inertial data of the drawing tool 800 through the inertial measurement unit 810.
(5) The communication unit 850 transmits drawing instructions and inertial data to the processing unit 820 in real time.
(6) The processing unit 820 obtains drawing information in real time, generates drawing instructions from the drawing information, generates virtual digital lines (virtual lines), and gives real-time drawing feedback to the user via the display unit 840.
(7) And (3) repeating the processes of (1) - (6), so that the user can easily draw virtual three-dimensional space drawings.
(8) When drawing is completed, the virtual line data in the current scene and the scene data acquired by the scene acquisition unit 860 are saved, thereby generating a pictorial representation of the three-dimensional space.
Schematic drawing system
Referring to fig. 7 of the drawings, an inertial measurement unit-based drawing system 400 according to an embodiment of the present invention is illustrated, wherein the inertial measurement unit-based drawing system 400 includes a first obtaining module 410 and a drawing module 420, wherein the first obtaining module 410 is configured to obtain motion trajectory data of a drawing tool, wherein the motion trajectory data includes at least one set of inertial data of the drawing tool in a drawing scene acquired by the inertial measurement unit; the drawing module 420 is configured to draw at least one virtual line by processing the motion trail data of the drawing tool.
Further, as shown in fig. 7, the drawing system 400 based on the inertial measurement unit further includes an output module 430, wherein the output module 430 is configured to output the virtual line to a display unit, so as to display the virtual line through the display unit.
In an example of the present invention, the drawing module 420 is further configured to establish a scene coordinate system based on the drawing scene; processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and fitting the at least one virtual line based on the at least one set of pose data.
In an example of the present invention, the drawing module 420 is further configured to obtain a line parameter control instruction sent by the drawing tool; and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
According to this embodiment of the present invention, as shown in fig. 7, the inertial measurement unit-based drawing system 400 further includes a second obtaining module 440, a constructing module 450, and a fusing module 460, wherein the second obtaining module 440 is configured to obtain scene data of the drawing scene; wherein the constructing module 450 is configured to process the scene data to construct a virtual scene; the fusion module 460 is configured to obtain a virtual fusion object by fusing the at least one virtual line to the virtual scene, where the virtual fusion object is configured to simulate a motion track of the drawing tool in the drawing scene.
In an example of the present invention, the drawing system 400 based on the inertial measurement unit further includes an output module 430, wherein the output module 430 is configured to output the virtual fusion object to a display unit for displaying the virtual line through the display unit.
Schematic computing System
FIG. 8 illustrates a non-limiting embodiment of a computing system that can perform one or more of the methods or processes described above, and illustrates a computing system 900 in simplified form. The computing system 900 may take the form of: one or more electronic devices configured with an inertial measurement unit, or one or more devices (e.g., personal computers, server computers, tablet computers, home entertainment computers, network computing devices, gaming devices, mobile computing devices, mobile communication devices (e.g., smart phone), and/or other computing devices) connected to the electronic devices configured with the inertial measurement unit.
As shown in fig. 8, the computing system 900 includes a logic machine 901 and a storage machine 902. The computing system 900 may optionally include a display subsystem 903, an input subsystem 904, a communication subsystem 905, and/or other components not shown in fig. 8.
The logic machine 901 comprises one or more physical devices configured to execute instructions. For example, the logic machine 901 may be configured to execute instructions that are part of: one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. Such instructions may be implemented to perform a task, implement a data type, transform the state of one or more components, implement a technical effect, or otherwise achieve a desired result.
The logic machine 901 may include one or more processors configured to execute software instructions. Additionally or alternatively, the logic machine 901 may comprise one or more hardware or firmware logic machines configured to execute hardware or firmware instructions. The processors of the logic machine 901 may be single-core or multi-core, and the instructions executed thereon may be configured for serial, parallel, and/or distributed processing. The various components of the logic machine 901 may optionally be distributed across two or more separate devices, which may be remotely located and/or configured for coordinated processing. Aspects of the logic machine 901 may be virtualized and executed by remotely accessible networked computing devices configured in a cloud computing configuration.
The storage machine 902 includes one or more physical devices configured to hold machine readable instructions executable by the logic machine 901 to implement the methods and processes described herein. In implementing these methods and processes, the state of the storage machine 902 may be transformed (e.g., different data is saved).
The storage 902 may include removable and/or built-in devices. The storage 902 may include optical storage (e.g., CD, DVD, HD-DVD, blu-ray disc, etc.), semiconductor storage (e.g., RAM, EPROM, EEPROM, etc.), and/or magnetic storage (e.g., hard-disk drive, floppy-disk drive, tape drive, MRAM, etc.), among others. The storage 902 may include volatile, nonvolatile, dynamic, static, read/write, read-only, random access, sequential access, location-addressable, file-addressable, and/or content-addressable devices.
It is appreciated that the storage 902 comprises one or more physical devices. However, aspects of the instructions described herein may alternatively be propagated through a communication medium (e.g., an electromagnetic signal, an optical signal, etc.) that is not held by a physical device for a limited period of time.
Aspects of the logic 901 and storage 902 may be integrated together into one or more hardware logic components. These hardware logic components may include, for example, field Programmable Gate Arrays (FPGAs), program and application specific integrated circuits (PASICs/ASICs), program and application specific standard products (PSSPs/ASSPs), system on a chip (SOCs), and Complex Programmable Logic Devices (CPLDs).
Notably, when the computing system 900 includes the display subsystem 903, the display subsystem 903 may be used to present a visual representation of the data held by the storage 902. The visual representation may take the form of a Graphical User Interface (GUI). Because the herein described methods and processes change the data held by the storage machine and thereby transform the state of the storage machine 902, the state of the display subsystem 903 may likewise be transitioned to visually represent changes in the underlying data. The display subsystem 903 may include one or more display devices utilizing virtually any type of technology. Such a display device may be combined with the logic machine 901 and/or the storage machine 902 in a shared enclosure, or such a display device may be a peripheral display device.
Illustratively, the display subsystem 903 of the computing system 900 may be used to display the virtual line or the virtual fusion object for a user to intuitively view the virtual line or the virtual fusion object that has been drawn.
Further, where the computing system 900 includes the input subsystem 904, the input subsystem 904 may include or interface with one or more user input devices such as a keyboard, mouse, touch screen, or game controller. In some embodiments, the input subsystem 904 may include or interface with selected Natural User Input (NUI) components. Such component parts may be integrated or peripheral and the transduction and/or processing of the input actions may be processed on-board or off-board. Example NUI components may include microphones for speech and/or speech recognition; infrared, color, stereoscopic display, and/or depth cameras for machine vision and/or gesture recognition; head trackers, eye trackers, accelerometers and/or gyroscopes for motion detection and/or intent recognition; and an electric field sensing component for assessing brain activity and/or body movement; and/or any other suitable sensor.
Illustratively, the input subsystem 904 of the computing system 900 may be used to input various control instructions, such as color, thickness, or/and linearity, etc., to control and adjust the color, thickness, or/and linearity of the virtual line.
And when the computing system 900 includes the communication subsystem 905, the communication subsystem 905 may be configured to communicatively couple the computing system 900 with one or more other computing devices, or various sensors. The communication subsystem 905 may include wired and/or wireless communication devices compatible with one or more different communication protocols. As non-limiting examples, the communication subsystem may be configured for communication via a wireless telephone network or a wired or wireless local area network or wide area network. In some embodiments, the communication subsystem 905 may allow the computing system 900 to send and/or receive messages to and/or from other devices via a network such as the internet.
Illustratively, the communication subsystem 905 of the computing system 900 may be used to store the motion trajectory data and the real scene data of the drawing tool acquired by various sensors to the storage 902 in order to obtain the motion trajectory data and the real scene data of the drawing tool.
It will be appreciated that the configurations and/or approaches described herein are exemplary in nature, and that these specific embodiments or examples are not to be considered in a limiting sense, because numerous variations are possible. The specific routines or methods described herein may represent one or more of any number of processing strategies. As such, various acts illustrated and/or described may be performed in the sequence illustrated and/or described, in other sequences, in parallel, or omitted. Also, the order of the above-described processes may be changed.
Illustrative computing program product
In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform part of the steps in an inertial measurement unit based drawing method according to various embodiments of the invention described in the "schematic method" section of this specification.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "return language" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform part of the steps in an inertial measurement unit based drawing method according to various embodiments of the present invention described in the "schematic method" section above in this specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is also noted that in the apparatus, devices and methods of the present invention, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (18)
1. A painting method based on an inertial measurement unit, comprising the steps of:
obtaining motion trail data of a drawing tool, wherein the motion trail data comprises at least one group of inertial data of the drawing tool in a drawing scene, which is acquired by the inertial measurement unit; and
drawing at least one virtual line by processing the motion trail data of the drawing tool;
the step of drawing at least one virtual line by processing the motion trail data of the drawing tool comprises the following steps:
establishing a scene coordinate system based on the painting scene;
processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and
Fitting the at least one virtual line based on the at least one set of pose data;
in the step of establishing a scene coordinate system based on the painting scene, the scene coordinate system is in a uniform linear motion state relative to a world coordinate system.
2. The drawing method based on an inertial measurement unit according to claim 1, wherein in the step of drawing at least one virtual line by processing motion trajectory data of the drawing tool, further comprising the steps of:
obtaining a line parameter control instruction sent by the drawing tool; and
and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
3. The inertial measurement unit-based drawing method according to claim 2, wherein the line parameters are selected from any one or a combination of several of the group consisting of line color, line thickness, and line type.
4. A painting method based on an inertial measurement unit according to any one of claims 1 to 3, further comprising the step of:
outputting the virtual line to a display unit so as to display the virtual line through the display unit.
5. The inertial measurement unit-based painting method according to claim 4, wherein the virtual line is relatively stationary to the scene coordinate system.
6. A painting method based on an inertial measurement unit according to any one of claims 1 to 3, further comprising the step of:
obtaining scene data of the painting scene;
processing the scene data to construct a virtual scene; and
and fusing the at least one virtual line with the virtual scene to obtain a virtual fusion object, wherein the virtual fusion object is used for simulating the motion trail of the drawing tool in the drawing scene.
7. The inertial measurement unit-based painting method according to claim 6, further comprising the step of:
the virtual fusion object is output to a display unit to display the virtual fusion object through the display unit.
8. The inertial measurement unit-based painting method according to claim 7, wherein the virtual line is relatively stationary to the virtual scene.
9. A method of inertial measurement unit based painting as claimed in any one of claims 1 to 3, wherein the virtual line has a three dimensional structure to construct a three dimensional pictorial representation.
10. An inertial measurement unit-based painting system, comprising:
the first acquisition module is used for acquiring motion trail data of a drawing tool, wherein the motion trail data comprise at least one group of inertial data of the drawing tool in a drawing scene, which are acquired by the inertial measurement unit; and
The drawing module is used for drawing at least one virtual line by processing the motion trail data of the drawing tool;
the drawing module is further used for establishing a scene coordinate system based on the drawing scene; processing the at least one set of inertial data in the motion trajectory data to obtain at least one set of pose data of the drawing tool relative to the scene coordinate system; and fitting the at least one virtual line based on the at least one set of pose data;
the scene coordinate system is in a uniform linear motion state relative to the world coordinate system.
11. The inertial measurement unit-based drawing system of claim 10, wherein the drawing module is further configured to obtain line parameter control instructions issued by the drawing tool; and responding to the line parameter control instruction, and adjusting the line parameter of the virtual line.
12. The inertial measurement unit-based painting system of claim 11, further comprising an output module, wherein the output module is configured to output the virtual line to a display unit for displaying the virtual line via the display unit.
13. The inertial measurement unit-based drawing system of claim 10 or 11, further comprising a second obtaining module, a constructing module, and a fusing module, wherein the second obtaining module is configured to obtain scene data of the drawing scene; the construction module is used for processing the scene data to construct a virtual scene; the fusion module is used for obtaining a virtual fusion object by fusing the at least one virtual line with the virtual scene, wherein the virtual fusion object is used for simulating the motion trail of the drawing tool in the drawing scene.
14. The inertial measurement unit-based painting system of claim 13, further comprising an output module, wherein the output module is configured to output the virtual fusion object to a display unit for display of the virtual line by the display unit.
15. A computing system, comprising:
a logic machine for executing the instructions; and
a storage machine configured to hold machine readable instructions executable by the logic machine to implement the inertial measurement unit-based drawing method of any one of claims 1 to 9.
16. The computing system of claim 15, further comprising a display subsystem and an input subsystem, wherein the display subsystem is configured to display virtual lines drawn by the logic machine, wherein the input subsystem is configured to input various control instructions.
17. The computing system of claim 15, further comprising a display subsystem and an input subsystem, wherein the display subsystem is configured to display virtual fusion objects fused by the logic machine, wherein the input subsystem is configured to input various control instructions.
18. A computer readable storage medium, having stored thereon computer program instructions, which when executed by a computing device are operable to perform the inertial measurement unit based drawing method of any one of claims 1 to 9.
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Application publication date: 20200428 Assignee: Zhejiang Shunwei Technology Co.,Ltd. Assignor: SUNNY OPTICAL (ZHEJIANG) RESEARCH INSTITUTE Co.,Ltd. Contract record no.: X2024330000055 Denomination of invention: Drawing Method and Drawing System and Computing System Based on Inertial Measurement Unit Granted publication date: 20230822 License type: Common License Record date: 20240515 |