CN113610979A - Method and equipment for early warning similarity between rigid bodies and optical motion capture system - Google Patents
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Abstract
The invention discloses a method for early warning similarity between rigid bodies, which comprises the steps of acquiring a 3D position information set of rigid body mark points, respectively taking coordinate sets of 3 mark points and 2 mark points of any two rigid bodies, and judging whether a triangle formed by side lengths between the mark points is a similar triangle or whether the side lengths are similar side lengths; calculating the combination possibility when 3 marking points or 2 marking points are arbitrarily selected from all the marking point sets of any two rigid bodies to obtain the triangle number similarity or the similar side length number similarity; establishing a similar matrix between all corresponding two side length sets on any two rigid bodies to obtain the maximum matching point number between the two rigid bodies; and combining the similarity of the number of the triangles, the similarity of the number of the similar side lengths and the maximum matching point number to finish the early warning of the similarity between the rigid bodies. By the method, early warning information of over-high similarity between the bound rigid bodies can be given in advance, and the early warning accuracy can reach over 90%.
Description
Technical Field
The invention relates to the technical field of motion capture, in particular to a method and equipment for early warning similarity between rigid bodies and an optical motion capture system.
Background
In the existing marker point dynamic capturing system, the algorithm of the dynamic capturing system has certain requirements on the design and installation of a rigid body and a marker point, and the structural characteristics of the rigid body determine the accuracy of system motion capture to a certain extent. The existing rigid body mark points are generally manually distributed, namely, a reflective ball with a rod is inserted into a fixed slot, and the distribution condition has the possibility of a large amount of similarity between rigid bodies and is difficult to give out early warning information. Another automatic point placement method has other problems, such as not necessarily being applicable to any manually-made point placement mode of rigid bodies, which all reduce the performance and applicability of the algorithm, and therefore, in order to prevent the problem of similar structures between rigid bodies, it is necessary to provide a rigid body similarity pre-warning method.
Disclosure of Invention
In order to solve the above technical problems, the present application provides a method for early warning similarity between rigid bodies to improve the problem of similarity between rigid bodies.
According to a first aspect, an embodiment provides a method for warning similarity between rigid bodies, including the following steps:
acquiring a 3D position information set S ({ P) of rigid body mark points when a rigid body is placed stillN1}1，{PN2}2，...，{PNM}M) Where M is the number of rigid bodies and NM is the number of marker points corresponding to each rigid body, { PNM}MA coordinate set of NM mark points of the Mth rigid body;
respectively taking coordinate sets of 3 mark points of any two rigid bodies, respectively calculating and sequencing distance side lengths formed between the 3 mark points on any two rigid bodies to obtain a side length set, and if any corresponding side length meets a preset first condition, considering a triangle formed by the side lengths as a dissimilar triangle, otherwise, the triangle is a similar triangle;
calculating the combination possibility when 3 marking points are randomly selected from all marking point sets of any two rigid bodies, counting the number of the similar triangles, and obtaining the similarity of the number of the triangles according to the number of the similar triangles and the combination possibility;
respectively taking coordinate sets of 2 mark points of any two rigid bodies, respectively calculating the side length formed between the 2 mark points on any two rigid bodies, if the side length accords with a preset second condition, considering the side length as a dissimilar side length, otherwise, considering the side length as a similar side length;
calculating the combination possibility when 2 marking points are arbitrarily selected from all marking point sets of any two rigid bodies, counting the number of the similar side lengths, and obtaining the similarity of the number of the similar side lengths according to the number of the similar side lengths and the combination possibility;
establishing a similar matrix between all corresponding two side length sets on any two rigid bodies, and matching the marked points by using a maximum cluster algorithm to obtain the maximum matching point number between the two rigid bodies;
and outputting corresponding prompt information by combining the triangle number similarity, the similar side length number similarity and the maximum matching point number between the two rigid bodies so as to finish the early warning of the similarity between the rigid bodies.
The preset first condition includes:
respectively calculating the distance side length formed between 3 mark points on any two rigid bodies and sequencing to obtain a side length set of
And
the preset first condition is:
TH1 is a set value.
The obtaining the similarity of the number of the triangles according to the number of the similar triangles and the possible combination number comprises:
if the number of mark points of the rigid body is NM, the possible number of the combination of 3 mark points is arbitrarily taken as
All labels for any two rigid bodiesPoint set { P }N1}1、{PN2}2The possible number of combinations when 3 marker points are arbitrarily taken therefrom is
Counting the set { PN1}1、{PN2}2If the number of the medium similar triangles is CT, the similarity of the number of the triangles is CT
The preset second condition includes:
respectively obtaining the side lengths e1 and e2 formed between 2 mark points on any two rigid bodies, and then the preset second condition is as follows: e1-e2 is greater than TH2, TH2 is a set value.
The obtaining of the similarity of the number of the similar side lengths according to the number of the similar side lengths and the possible number of the combination comprises:
if the number of mark points of the rigid body is NM, the possible number of the combination of 2 mark points is arbitrarily taken as
Set of all marker points for any two rigid bodies PN1}1、{PN2}2The possible number of combinations when 2 marker points are arbitrarily taken from among them is
Counting the set { PN1}1、{PN2}2If the number of the middle similar side length is CE, the similarity of the number of the similar side lengths is CE
Establishing a similar matrix between all corresponding two side length sets on any two rigid bodies, and matching the marked points by using a maximum cluster algorithm to obtain the maximum matching point number between the two rigid bodies, wherein the method comprises the following steps:
any two corresponding side lengths on any two rigid bodies are e1 and e2, and the similarity relation between the two corresponding side lengths is as follows: if | e1-e2| < TH2, considering the two corresponding side lengths as similar side lengths when the similarity relation is met, establishing a similar matrix between all sets of the two corresponding side lengths on any two rigid bodies according to the similarity relation, performing matching between the marked points by using a maximum clustering algorithm to obtain the maximum matching point number between the two rigid bodies as MaxP, and considering the structures of the two rigid bodies to be very similar if the MaxP is not less than PT and the PT is a set threshold.
The method for early warning the similarity between the rigid bodies further comprises the following steps:
and if the similarity of the number of the triangles and/or the similarity of the number of the similar side lengths is too high and/or the maximum matching point number between the two rigid bodies is too high, early warning is carried out to prompt that the similarity between the rigid bodies is too high so as to remind a user to bind the rigid bodies again.
According to a second aspect, an embodiment provides an optical motion capture system comprising a plurality of marker points to be captured and a plurality of cameras filming the marker points, characterized by further comprising a processor;
a plurality of cameras are distributed in the motion space and are in communication connection with the processor so as to shoot the mark points on the rigid body;
the processor is configured to perform an early warning prompt on each rigid body according to the method for early warning the similarity between rigid bodies in the first aspect, so as to complete early warning of the similarity between rigid bodies.
According to a third aspect, an embodiment provides an apparatus for warning of similarity between rigid bodies, including: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line; the at least one processor invokes the instructions in the memory to cause the device that pre-warns of similarities between rigid bodies to perform the method of the first aspect.
According to a fourth aspect, an embodiment provides a computer readable storage medium comprising a program executable by a processor to implement the method of the first aspect described above.
The beneficial effect of this application is:
according to the method, the device and the optical motion capture system for early warning the similarity between the rigid bodies, when the rigid bodies are placed still, the 3D position information sets of the rigid body mark points are obtained, the coordinate sets of 3 mark points of any two rigid bodies are respectively taken, so that a side length set is obtained, and whether a triangle formed by side lengths is a similar triangle is judged; calculating the combination possibility number when 3 marking points are randomly selected from all the marking point sets of any two rigid bodies, and combining the number of similar triangles to obtain the similarity of the number of triangles; respectively taking coordinate sets of 2 mark points of any two rigid bodies to obtain the side length formed between the 2 mark points, and judging whether the side length is a similar side length or not; calculating the combination possibility when randomly taking 2 mark points from all mark point sets of any two rigid bodies, and combining the number of the similar side lengths to obtain the number similarity of the similar side lengths; finally, establishing a similar matrix between all corresponding two side length sets on any two rigid bodies, and matching the marked points by using a maximum cluster algorithm to obtain the maximum matching point number between the two rigid bodies; and outputting corresponding prompt information by combining the triangle number similarity, the similar side length number similarity and the maximum matching point number between the two rigid bodies so as to finish the early warning of the similarity between the rigid bodies. By the method, early warning information of over-high similarity between the bound rigid bodies can be given in advance, the early warning accuracy rate reaches over 90%, and particularly the early warning accuracy rate can reach 100% for the completely same rigid bodies, so that correct early warning can be given if the bound rigid bodies are similar, and the problem of reduction of motion capture accuracy caused by similarity between the rigid bodies is solved.
Drawings
FIG. 1 is a schematic representation of a rigid body structure;
FIG. 2 is a flow chart of a method of pre-warning similarity between rigid bodies;
FIG. 3 is a schematic diagram of an optical motion capture system;
fig. 4 is a schematic structural diagram of an apparatus for warning similarity between rigid bodies.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The first embodiment is as follows:
referring to fig. 1, the present application discloses a structural diagram of a rigid body, where the rigid body structure 100 includes: the rigid body base 110 is provided with a plurality of threaded surfaces 111 and a plurality of threaded slots 112, the plurality of threaded slots 112 are distributed on the plurality of threaded surfaces 111, the support rod 120 is inserted into the threaded slots 112, and the mark point 130 is located at the top end of the support rod 120.
The rigid body base 110 may be any shape, that is, the rigid body base 110 may be a cube, a cuboid, a cylinder, and other shapes, which are not limited herein. The size of the thread surface 111 can be set according to practical situations, and generally, 1-16 thread surfaces 111 are provided on the rigid body base 110 for distributing a certain number of thread slots 112, and the number of the thread slots 112 can be 1-52, so as to install enough mark points 130 for motion capture.
The number of the support rods 120 is at least 3, each support rod 120 forms an included angle with the threaded surface 111 through the threaded slot 112, the length of each support rod 120 is different, and the support rods 120 can be specifically mounted in the middle of the threaded surface 111 and can also be mounted at the edge of the threaded surface 111, so that the positions of the mark points 130 are not symmetrical.
The number of the mark points 130 is at least 3, the number of the mark points 130 is the same as that of the support rods 120, so that different mark points 130 can be distinguished when the mobile capturing system calculates the coordinates of the mark points 130 conveniently, the distances (side lengths) between any two mark points 130 are different, all the mark points 130 cannot be coplanar, the mark points 130 are arranged according to the method, all the rigid bodies are not similar, and the mobile capturing system can effectively identify the rigid bodies.
The mark point 130 may be a reflective mark point or an active mark point that can emit light, that is, the rigid body structure may be a rigid body for passive motion capture or a rigid body for active motion capture.
Example two:
referring to fig. 2, the present embodiment discloses a method for warning similarity between rigid bodies based on understanding the rigid body structure shown in fig. 1, and the claimed method includes steps S200-S800, which will be separately described below.
Step S200, acquiring a 3D position information set S ({ P) of rigid body mark points when the rigid body is placed stillN1}1，{PN2}2，...，{PNM}M)，Where M is the number of rigid bodies and NM is the number of marker points corresponding to each rigid body, { PNM}MA coordinate set of NM mark points of the Mth rigid body;
after acquiring the 3D position information set of the rigid body mark points, for any rigid body mark point set { P }NM}MThen, find its side length set { e }MIf the rigid body meets the following conditions, giving out an early warning prompt that the similarity is too high: e.g., set of marker points { P }NM}MCoplanar rigid body, side length minimum value less than a set value EminRigid body and side length set { e }MAll the same rigid bodies, etc., and how to calculate the rigid body condition meeting the warning condition will be described in detail below.
Step S300, respectively taking coordinate sets of 3 mark points of any two rigid bodies, respectively calculating and sequencing distance side lengths formed between the 3 mark points on any two rigid bodies to obtain a side length set, and if any corresponding side length meets a preset first condition, considering a triangle formed by the side lengths as a dissimilar triangle, otherwise, the triangle is a similar triangle;
for any two rigid bodies, 3 marker point sets { P are taken1，P2，P3}1And { P1，P2，P3}2Respectively obtaining the side lengths of 3 edges formed by 3 marking points, sequencing and storing to obtain a side length set
And
as long as any corresponding edge meets the condition
TH1 is a set value, i.e. the triangle formed by the side lengths is considered to be a dissimilar triangle, otherwise it is a similar triangle.
Step S400, calculating the combination possibility when 3 marker points are arbitrarily selected from all marker point sets of any two rigid bodies, counting the number of the similar triangles, and obtaining the similarity of the number of the triangles according to the number of the similar triangles and the combination possibility;
if the number of mark points of the rigid body is NM, the possible number of the combination of 3 mark points is arbitrarily taken as
Set of all marker points for any two rigid bodies PN1}1、{PN2}2The possible number of combinations when 3 marker points are arbitrarily taken therefrom is
Set of statistics { PN1}1、{PN2}2If the number of the medium similar triangles is CT, the similarity of the number of the triangles is CT
Step S500, respectively taking coordinate sets of 2 mark points of any two rigid bodies, respectively calculating the side length formed by the 2 mark points on any two rigid bodies, if the side length accords with a preset second condition, considering the side length as a dissimilar side length, otherwise, considering the side length as a similar side length;
for any two rigid bodies, 2 marker point sets { P are taken1，P2}1And { P1，P2}2And respectively obtaining the side lengths formed by 2 mark points on the two rigid bodies to obtain e1 and e2, wherein the side length is considered to be a dissimilar side length as long as the side length meets the condition | e1-e2| > TH2 and TH2 is a set value, otherwise, the side length is a similar side length.
Step S600, calculating the combination possibility when 2 marking points are arbitrarily selected from all marking point sets of any two rigid bodies, counting the number of the similar side lengths, and obtaining the similarity of the number of the similar side lengths according to the number of the similar side lengths and the combination possibility;
if the number of mark points of the rigid body is NM, the combination of 2 mark points can be arbitrarily selectedNumber is
Set of all marker points for any two rigid bodies PN1}1、{PN2}2The possible number of combinations when 2 marker points are arbitrarily taken from among them is
Counting the set { PN1}1、{PN2}2If the number of the middle similar side length is CE, the similarity of the number of the similar side lengths is CE
Step S700, establishing a similar matrix between all corresponding two side length sets on any two rigid bodies, and matching the marked points by using a maximum group algorithm to obtain the maximum matching point number between the two rigid bodies;
setting the number of the marking points of the two rigid bodies as M1 and M2 respectively, and establishing the similarity relation between the side lengths (e1 and e2) formed by the two marking points on the two rigid bodies: if the < E1-e2 < TH2, if the similarity relation is met, the corresponding two side lengths are considered to be similar side lengths, otherwise, the two side lengths are not similar, so that a similar matrix between the side lengths formed by two mark points on the two rigid bodies is established, then matching between mark point data on the similar matrix is carried out by using a maximum group algorithm, and finally the maximum matching point number MaxP between the two rigid bodies is obtained, if the MaxP is not less than PT, the PT is a threshold value, and the threshold value is selected according to the number of the mark points of the rigid bodies, so that the two rigid bodies are considered to have very similar structures.
And step S800, outputting corresponding prompt information by combining the triangle number similarity, the similar side length number similarity and the maximum matching point number between the two rigid bodies so as to finish the early warning of the similarity between the rigid bodies.
It can be understood that if the similarity of the number of the triangles and/or the similarity of the number of the side lengths of the similar triangles is too high and/or the maximum matching point number between two rigid bodies is too high, such as the similarity of the number of the triangles
Similarity of number of similar side lengths exceeding a threshold
If the maximum matching point number MaxP between the two rigid bodies exceeds a threshold value and one of the conditions is met, the similarity between the early warning prompt rigid bodies is too high so as to remind a user to re-bind the rigid bodies until the early warning prompt information is not output any more.
Example three:
referring to fig. 3, the present application discloses an optical motion capture system including not only a plurality of mark points to be captured and a plurality of cameras for capturing images of the mark points, but also a processor 12, on the basis of a method for warning the similarity between rigid bodies according to the second embodiment.
Wherein a plurality of marker points are provided on one or more capture objects 11 in motion space, as shown in fig. 3. A plurality of cameras are distributed in the motion space and are each communicatively connected to the processor 12 for imaging the marker points on the capture object 11.
It should be noted that the mark points mentioned in this embodiment may be reflective mark points or fluorescent mark points commonly used in an optical motion capture system to configure a rigid body, or may be active mark points capable of actively emitting light.
The processor 12 is configured to perform an early warning prompt on the similarity between the rigid bodies according to the method for early warning the similarity between the rigid bodies disclosed in the second embodiment. For example, a set of 3D position information of the mark points on a plurality of rigid bodies is periodically acquired according to step S200, and then after calculating the similarity between the side lengths formed by the mark points on the rigid bodies according to steps S300 to S700, the process proceeds to step S800 to perform early warning on the similarity between the rigid bodies.
Further, the present application also describes in detail the device for warning similarity between rigid bodies in this embodiment from the perspective of hardware processing, please refer to fig. 4.
Fig. 4 is a schematic structural diagram of an apparatus for warning similarity between rigid bodies according to this embodiment, where the apparatus 600 may generate relatively large differences due to different configurations or performances, and may include one or more processors (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) for storing applications 633 or data 632. Memory 620 and storage medium 630 may be, among other things, transient or persistent storage. The program stored on the storage medium 630 may include one or more modules (not shown), each of which may include a sequence of instructions for operating the device 600. Further, the processor 610 may be configured to communicate with the storage medium 630 to execute a series of instruction operations in the storage medium 630 on the device 600.
The device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input-output interfaces 660, and/or one or more operating systems 631, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and so forth. Those skilled in the art will appreciate that the configuration of the apparatus 600 shown in fig. 4 does not constitute a limitation of the apparatus for warning of similarity between rigid bodies provided herein, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
The present application also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and may also be a volatile computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the instructions cause the computer to perform the steps of the method for warning the similarity between rigid bodies.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A method for early warning similarity between rigid bodies is characterized by comprising the following steps:
acquiring a 3D position information set S ({ P) of rigid body mark points when a rigid body is placed stillN1}1，{PN2}2，...，{PNM}M) Where M is the number of rigid bodies and NM is the number of marker points corresponding to each rigid body, { PNM}MA coordinate set of NM mark points of the Mth rigid body;
respectively taking coordinate sets of 3 mark points of any two rigid bodies, respectively calculating and sequencing distance side lengths formed between the 3 mark points on any two rigid bodies to obtain a side length set, and if any corresponding side length meets a preset first condition, considering a triangle formed by the side lengths as a dissimilar triangle, otherwise, the triangle is a similar triangle;
calculating the combination possibility when 3 marking points are randomly selected from all marking point sets of any two rigid bodies, counting the number of the similar triangles, and obtaining the similarity of the number of the triangles according to the number of the similar triangles and the combination possibility;
respectively taking coordinate sets of 2 mark points of any two rigid bodies, respectively calculating the side length formed between the 2 mark points on any two rigid bodies, if the side length accords with a preset second condition, considering the side length as a dissimilar side length, otherwise, considering the side length as a similar side length;
calculating the combination possibility when 2 marking points are arbitrarily selected from all marking point sets of any two rigid bodies, counting the number of the similar side lengths, and obtaining the similarity of the number of the similar side lengths according to the number of the similar side lengths and the combination possibility;
establishing a similar matrix between all corresponding two side length sets on any two rigid bodies, and matching the marked points by using a maximum cluster algorithm to obtain the maximum matching point number between the two rigid bodies;
and outputting corresponding prompt information by combining the triangle number similarity, the similar side length number similarity and the maximum matching point number between the two rigid bodies so as to finish the early warning of the similarity between the rigid bodies.
2. The method of claim 1, wherein the preset first condition comprises:
respectively calculating the distance side length formed between 3 mark points on any two rigid bodies and sequencing to obtain a side length set of
And
the preset first condition is:
TH1 is oneAnd (5) fixing the value.
3. The method of claim 2, wherein the obtaining the similarity of the number of triangles according to the number of the similar triangles and the combination possibility number comprises:
if the number of mark points of the rigid body is NM, the possible number of the combination of 3 mark points is arbitrarily taken as
Set of all marker points for any two rigid bodies PN1}1、{PN2}2The possible number of combinations when 3 marker points are arbitrarily taken therefrom is
Counting the set { PN1}1、{PN2}2If the number of the medium similar triangles is CT, the similarity of the number of the triangles is CT
4. The method of claim 1, wherein the second predetermined condition comprises:
respectively obtaining the side lengths e1 and e2 formed between 2 mark points on any two rigid bodies, and then the preset second condition is as follows: e1-e2 is greater than TH2, TH2 is a set value.
5. The method of claim 4, wherein the obtaining the similarity of the number of the similar side lengths according to the number of the similar side lengths and the combined possible number comprises:
if the number of mark points of the rigid body is NM, the possible number of the combination of 2 mark points is arbitrarily taken as
Set of all marker points for any two rigid bodies PN1}1、{PN2}2The possible number of combinations when 2 marker points are arbitrarily taken from among them is
Counting the set { PN1}1、{PN2}2If the number of the middle similar side length is CE, the similarity of the number of the similar side lengths is CE
6. The method of claim 1, wherein the creating a similarity matrix between all corresponding two side length sets on any two rigid bodies, and performing matching between the labeled points by using a maximum cluster algorithm to obtain the maximum number of matching points between the two rigid bodies comprises:
any two corresponding side lengths on any two rigid bodies are e1 and e2, and the similarity relation between the two corresponding side lengths is as follows: if | e1-e2| < TH2, considering the two corresponding side lengths as similar side lengths when the similarity relation is met, establishing a similar matrix between all sets of the two corresponding side lengths on any two rigid bodies according to the similarity relation, performing matching between the marked points by using a maximum clustering algorithm to obtain the maximum matching point number between the two rigid bodies as MaxP, and considering the structures of the two rigid bodies to be similar if the MaxP is more than or equal to PT and the PT is a set threshold.
7. The method for warning the similarity between rigid bodies according to any one of claims 1 to 6, further comprising:
and if the similarity of the number of the triangles and/or the similarity of the number of the side lengths of the similar triangles and/or the maximum matching point number between the two rigid bodies respectively exceed a preset threshold, early warning is carried out to prompt that the similarity between the rigid bodies is too high so as to remind a user to bind the rigid bodies again.
8. An optical motion capture system comprising a plurality of marker points to be captured and a plurality of cameras for photographing the marker points, characterized by further comprising a processor;
a plurality of cameras are distributed in the motion space and are in communication connection with the processor so as to shoot the mark points on the rigid body;
the processor is used for carrying out early warning prompt on each rigid body according to the method for early warning the similarity between the rigid bodies in any one of claims 1 to 7 so as to finish early warning of the similarity between the rigid bodies.
9. An apparatus for early warning of similarity between rigid bodies, comprising: a memory having instructions stored therein and at least one processor, the memory and the at least one processor interconnected by a line; the at least one processor invokes the instructions in the memory to cause the device that pre-warns of similarities between rigid bodies to perform the method of any of claims 1-7.
10. A computer-readable storage medium, characterized by comprising a program executable by a processor to implement the method of any one of claims 1-7.
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