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WO2017012364A1 - Procédé et appareil permettant de régler la position et l'angle d'attitude d'un objet virtuel - Google Patents

Procédé et appareil permettant de régler la position et l'angle d'attitude d'un objet virtuel Download PDF

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Publication number
WO2017012364A1
WO2017012364A1 PCT/CN2016/076533 CN2016076533W WO2017012364A1 WO 2017012364 A1 WO2017012364 A1 WO 2017012364A1 CN 2016076533 W CN2016076533 W CN 2016076533W WO 2017012364 A1 WO2017012364 A1 WO 2017012364A1
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WIPO (PCT)
Prior art keywords
attitude angle
real
memory
conversion relationship
virtual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/076533
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English (en)
Chinese (zh)
Inventor
张大为
龙寿伦
李刚
张丰学
熊旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dlodlo Technologies Co Ltd
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Shenzhen Dlodlo Technologies Co Ltd
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Publication date
Application filed by Shenzhen Dlodlo Technologies Co Ltd filed Critical Shenzhen Dlodlo Technologies Co Ltd
Publication of WO2017012364A1 publication Critical patent/WO2017012364A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Definitions

  • the present invention relates to the field of virtual reality, and in particular, to a method and apparatus for adjusting a position and an attitude angle of a virtual object.
  • Virtual Reality (VR) technology refers to the use of electronic devices to construct a virtual space, and provides users with a technology for visual, auditory and other sensory simulations according to the virtual space.
  • the use of virtual reality technology allows the user to interact with virtual objects in the virtual space, providing the user with an experience of visual, auditory, tactile, and the like.
  • the master device In the process of implementing virtual reality, the master device usually needs to construct a virtual space in advance, and then display various virtual objects in the virtual space, wherein the master device may be a virtual reality device, such as VR glasses, a VR helmet, or the like.
  • the master device may be a virtual reality device, such as VR glasses, a VR helmet, or the like.
  • it is usually necessary to construct a virtual object corresponding to the real object in the real space in the virtual space, so that the user can control the virtual object by manipulating the real object.
  • the virtual reality device In order to control the virtual object by manipulating the real object, it is necessary to adjust the position and posture angle of the virtual object in the virtual space according to the position and posture angle of the real object in the real space. Only the real object reports the position and posture information of the virtual object in the real space, and the virtual reality device can adjust the position and posture angle of the virtual object corresponding to the virtual object in the virtual space. However, in the real space, most of the real objects do not have the reporting function of the position and posture information, so a new adjustment method is needed. When the real object does not have the reporting function of the position and posture information, the real object can still pass through with the real object. The position and attitude angle of the positioning device connected in real space and its connection relationship with the real object, and the position and posture angle of the virtual object corresponding to the virtual object in the virtual space are adjusted.
  • Embodiments of the present invention provide a method and apparatus for adjusting a position and an attitude angle of a virtual object, and a method for adjusting a position and an attitude angle of a virtual object in a virtual space according to a position and an attitude angle of a real object in a real space. .
  • an embodiment of the present invention provides a method for adjusting a position and an attitude angle of a virtual object, the method comprising: acquiring a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object; and acquiring the positioning object.
  • a first three-dimensional coordinate and a first attitude angle in a real space coordinate system wherein the real space coordinate system is a three-dimensional coordinate system established with a specified point in the real space as an origin; according to the relative position conversion relationship Converting the first three-dimensional coordinates into a second three-dimensional coordinate of the real object in the real space coordinate system, and converting the first posture angle into a real object in the real space coordinate system according to the posture angle conversion relationship a second attitude angle; converting the second three-dimensional coordinates into a target three-dimensional coordinate according to a predetermined conversion rule, and converting the second posture angle into a target attitude angle; and specifying the target three-dimensional coordinates in any one of the virtual spaces And an indication of the target attitude angle to adjust a position and a posture of the virtual object corresponding to the real object.
  • the obtaining a relative position conversion relationship and an attitude angle conversion relationship between the positioning object and the real object includes: a memory from the positioning object, or a reality
  • the relative position conversion relationship and the attitude angle conversion relationship are acquired in a memory of the object, or a memory of the virtual reality device, or a third party server.
  • the obtaining a relative position conversion relationship and an attitude angle conversion relationship between the positioning object and the real object includes: acquiring an identifier ID of the real object; A relative position conversion relationship and an attitude angle conversion relationship corresponding to the ID are obtained from a memory of the positioning object, a memory of the real object, or a memory of the virtual reality device, or a third party service.
  • the method further includes: a memory from the positioning object, or a memory of a real object, or a virtual reality device
  • the three-dimensional model information and the attribute information of the virtual object are acquired in a memory or a third-party server.
  • the method further includes: a memory from the positioning object, a memory of a real object, or a virtual reality device
  • the three-dimensional model information and the attribute information corresponding to the ID are acquired in a memory or a third-party service.
  • the target three-dimensional coordinate and the target gesture in the specified coordinate system in any one of the virtual spaces Angular Instructing, adjusting the position and posture of the virtual object corresponding to the real object includes: using the three-dimensional model information to indicate the target three-dimensional coordinate and the position and angle indicated by the target attitude angle in the specified coordinate system And the attribute information, adjusting the position, posture and attribute value of the virtual object.
  • An embodiment of the present invention provides a device for adjusting a position and an attitude angle of a virtual object.
  • the device includes: a conversion relationship acquiring unit, configured to acquire a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object;
  • a position and posture information acquiring unit configured to acquire a first three-dimensional coordinate and a first posture angle of the positioning object in a real space coordinate system, where the real space coordinate system is a three-dimensional created by using a specified point in a real space as an origin a coordinate system; a position and posture information conversion unit, configured to convert the first three-dimensional coordinate into a second three-dimensional coordinate of the real object in the real space coordinate system according to the relative position conversion relationship, and convert according to the posture angle The relationship converts the first attitude angle into a second attitude angle of the real object in the real space coordinate system; the target position posture determining unit is configured to convert the second three-dimensional coordinates into the target three-dimensional coordinates according to a predetermined conversion rule, And converting the second attitude angle into a target attitude angle; the adjusting unit is configured to adjust the target object three-dimensional coordinates and the target attitude angle indication in any one of the specified coordinate systems of the virtual space, and adjust the corresponding corresponding to the real object The position and posture of the virtual object.
  • the conversion relationship acquiring unit includes: an identifier acquiring subunit, configured to acquire an ID of the real object; and a conversion relationship acquiring subunit, configured to: A relative position conversion relationship and an attitude angle conversion relationship corresponding to the ID are obtained from a memory of the positioning object, a memory of the real object, or a memory of the virtual reality device, or a third party service.
  • the device further includes: a model information acquiring unit, configured to use the memory of the positioning object, or a virtual reality device
  • the three-dimensional model information and the attribute information corresponding to the ID are acquired in a memory or a third-party service.
  • the device further includes: a display unit, configured to use the target three-dimensional coordinates and the location in the specified coordinate system The position and angle indicated by the target attitude angle are adjusted by the manner indicated by the three-dimensional model information and the attribute information, and the position, posture and attribute values of the virtual object are adjusted.
  • a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object are acquired; and the first three-dimensional coordinates and the first posture angle of the positioning object in the real space coordinate system are acquired, the reality
  • the spatial coordinate system is a three-dimensional coordinate system established with the specified point as the origin in the real space; the first three-dimensional coordinate is converted into the second object of the real object in the real space coordinate system according to the relative position conversion relationship 3D coordinates, and converting the first attitude angle into a second attitude angle of the real object in the real space coordinate system according to the attitude angle conversion relationship; converting the second three-dimensional coordinate to the target three-dimensional according to a predetermined conversion rule Coordinates, and converting the second attitude angle into a target attitude angle; adjusting the virtual object corresponding to the real object by an indication of the target three-dimensional coordinate and the target attitude angle in any one of the specified coordinate systems of the virtual space The position and posture of the object.
  • the position and posture angle of the real object can be determined according to the position and posture angle reported by the positioning object, and then the virtual object corresponding to the virtual object in the virtual space is adjusted according to the position and posture angle of the real object in the real space. Position and attitude angle.
  • FIG. 1 is a flow chart of an embodiment of a method for adjusting a position and an attitude angle of a virtual object according to the present invention
  • FIG. 2 is a schematic structural view of an embodiment of an apparatus for adjusting a position and an attitude angle of a virtual object according to the present invention.
  • a method for adjusting a position and an attitude angle of a virtual object is shown.
  • the method may be performed by a Virtual Reality (VR) device, which may be a VR glasses, a VR helmet, or the like.
  • VR Virtual Reality
  • Step 101 Acquire a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object.
  • the relative position conversion relationship and the attitude angle conversion relationship may be saved in a memory of the virtual reality device virtual reality device, or may be stored in a memory of the positioning object, or may be stored in a third party server.
  • the virtual reality device may acquire the relative position conversion relationship and the attitude angle conversion relationship directly from a memory of the positioning object, or a memory of the virtual reality device, or a third party server.
  • the real object refers to an object corresponding to a virtual object in the virtual space. For example, it may be a data glove, a mouse, or the like, or a table, a chair, or the like.
  • the positioning object refers to a positioning function, which can be determined and virtualized A device that reports its position and posture in real space, for example, a six-degree-of-freedom interactive peripheral.
  • the relative position conversion relationship and the attitude angle conversion relationship may be set in a file.
  • the position conversion relationship may be the same position of the positioning object and the real object
  • the posture angle conversion relationship may be the same posture angle of the positioning object and the real object.
  • Step 102 Acquire a first three-dimensional coordinate and a first posture angle of the positioning object in a real space coordinate system, where the real space coordinate system is a three-dimensional coordinate system established with a specified point in the real space as an origin.
  • the virtual reality device may acquire the first three-dimensional coordinates and the first posture angle of the positioning object in the real space coordinate system while acquiring the relative position conversion relationship and the attitude angle conversion relationship.
  • Step 103 Convert the first three-dimensional coordinate into a second three-dimensional coordinate of the real object in the real space coordinate system according to the relative position conversion relationship, and convert the first posture angle according to the posture angle conversion relationship Converted to a second attitude angle of the real object in the real space coordinate system.
  • Obtaining a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object, and after the first three-dimensional coordinates and the first posture angle of the positioning object in the real space coordinate system, may be converted according to the relative position Converting the first three-dimensional coordinates into second three-dimensional coordinates of the real object in the real space coordinate system, and converting the first posture angle into a real object coordinate in the real space coordinate according to the posture angle conversion relationship The second attitude angle in the system.
  • the three-dimensional coordinates of the positioning object in the real space coordinate system may be The three-dimensional coordinates of the real object in the real space coordinate system; and the attitude angle of the positioning object in the real space coordinate system as the attitude angle of the real object in the real space coordinate system.
  • Step 104 Convert the second three-dimensional coordinates into target three-dimensional coordinates according to a predetermined conversion rule, and convert the second posture angle into a target posture angle.
  • the predetermined conversion rule may be set in advance by a technician according to requirements, and may include an action function and an attitude angle conversion function, wherein the action function is configured to calculate a target three-dimensional coordinate by using the second three-dimensional coordinate as an input;
  • the attitude angle conversion function is for calculating the target attitude angle with the second attitude angle as an input.
  • the virtual reality device may first determine a set of motion functions and attitude angle conversion functions according to predetermined conditions, and then use the motion function and the attitude angle conversion function to calculate the target three-dimensional coordinates and the target attitude angle.
  • Step 105 Adjust the position and posture of the virtual object corresponding to the real object by using the target three-dimensional coordinates and the target attitude angle indication in any one of the designated coordinate systems of the virtual space.
  • the position of the virtual object corresponding to the real object may be adjusted by using the indication of the target three-dimensional coordinate and the target attitude angle in any one of the virtual spaces. And gestures.
  • the reality may also be pre-stored in the memory of the positioning object, the memory of the real object, or the memory of the virtual reality device, or a third-party server.
  • the object corresponds to the three-dimensional model information and the attribute information of the virtual object, wherein the attribute information may be information such as the color of the virtual object.
  • the virtual reality device may acquire the three-dimensional model information directly from the memory of the positioning object, or the memory of the real object, or the memory of the virtual reality device, or a third-party service; and the target three-dimensional coordinates in the specified coordinate system and The position and angle indicated by the target attitude angle are displayed in a manner indicated by the three-dimensional model information to display the virtual object.
  • the target three-dimensional coordinates in the specified coordinate system exhibit virtual objects in the form of the table attitude angle reality and the shape indicated by the three-dimensional model information, and the color of the virtual object may be determined by the attribute information.
  • the virtual reality device may first acquire an identifier ID of the real object; and then from the memory of the positioning object, or the memory of the real object, or the memory of the virtual reality device, Or acquiring the three-dimensional model information and attribute information corresponding to the ID in the third-party service.
  • a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object are acquired; and the first three-dimensional coordinates and the first posture angle of the positioning object in the real space coordinate system are acquired, the reality
  • the spatial coordinate system is a three-dimensional coordinate system established with a specified point in the real space as an origin; the first three-dimensional coordinate is converted into a second three-dimensional coordinate of the real object in the real space coordinate system according to the relative position conversion relationship.
  • the position and posture angle of the real object can be determined according to the position and posture angle reported by the positioning object, and then the virtual object corresponding to the virtual object in the virtual space is adjusted according to the position and posture angle of the real object in the real space.
  • Position and attitude angle is
  • the present invention also provides means for adjusting the position and attitude angle of the virtual object.
  • FIG. 2 is a schematic structural diagram of an embodiment of an apparatus for adjusting a position and an attitude angle of a virtual object according to the present invention. Figure.
  • the apparatus may include: a conversion relationship acquisition unit 201, a position and posture information acquisition unit 202, a position and posture information conversion unit 203, a target position and posture determination unit 204, and an adjustment unit 205.
  • the conversion relationship acquiring unit 201 is configured to acquire a relative position conversion relationship and a posture angle conversion relationship between the positioning object and the real object;
  • the position and posture information acquiring unit 202 is configured to acquire the positioning object in the real space coordinate system. a first three-dimensional coordinate and a first attitude angle, wherein the real-space coordinate system is a three-dimensional coordinate system established with a specified point in the real space as an origin;
  • the position and posture information conversion unit 203 is configured to convert the relative position according to the relative position Converting the first three-dimensional coordinate into a second three-dimensional coordinate of the real object in the real space coordinate system, and converting the first posture angle into a real object coordinate in the real space coordinate system according to the posture angle conversion relationship a second attitude angle;
  • the target position and posture determining unit 204 is configured to convert the second three-dimensional coordinates into a target three-dimensional coordinate according to a predetermined conversion rule, and convert the second posture angle into a target attitude angle; and the adjusting unit 205 For adjusting the target three-
  • the conversion relationship obtaining unit 201 includes: an identifier acquiring subunit, configured to acquire an ID of the real object; and a conversion relationship acquiring subunit, configured to use the memory of the positioning object or the virtual reality device The relative position conversion relationship and the attitude angle conversion relationship corresponding to the ID are acquired in the memory or the third party service.
  • the conversion relationship obtaining unit 201 is configured to obtain the relative position conversion relationship and the attitude angle conversion relationship from a memory of the positioning object, or a memory of the virtual reality device, or a third-party server.
  • the device further includes: a model information acquiring unit, configured to acquire three-dimensional model information and attribute information of the virtual object from a memory of the positioning object, or a memory of the virtual reality device, or a third-party server.
  • a model information acquiring unit configured to acquire three-dimensional model information and attribute information of the virtual object from a memory of the positioning object, or a memory of the virtual reality device, or a third-party server.
  • the model information acquiring unit is configured to obtain three-dimensional model information and attributes corresponding to the ID from a memory of the positioning object, a memory of a real object, or a memory of a virtual reality device, or a third-party service. information.
  • the device further includes: a display unit, configured to adjust the position and the angle indicated by the target three-dimensional coordinates and the target attitude angle in the specified coordinate system by using a manner indicated by the three-dimensional model information The position and attitude angle of the virtual object.
  • a display unit configured to adjust the position and the angle indicated by the target three-dimensional coordinates and the target attitude angle in the specified coordinate system by using a manner indicated by the three-dimensional model information The position and attitude angle of the virtual object.
  • the technology in the embodiments of the present invention can be added by software.
  • the way to a common hardware platform is implemented.
  • the technical solution in the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product, which may be stored in a storage medium such as a ROM/RAM. , a disk, an optical disk, etc., including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments of the present invention or portions of the embodiments.
  • a computer device which may be a personal computer, server, or network device, etc.

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Abstract

L'invention concerne un procédé et un appareil permettant de régler la position et l'angle d'attitude d'un objet virtuel. Le procédé comprend : l'acquisition d'une relation de conversion de position relative et d'une relation de conversion d'angle d'attitude entre un objet de repérage et un objet réel (101) ; l'acquisition des premières coordonnées tridimensionnelles et du premier angle d'attitude de l'objet de repérage dans un système de coordonnées d'espace réel (102) ; la conversion des premières coordonnées tridimensionnelles en secondes coordonnées tridimensionnelles selon la relation de conversion de position relative, et la conversion du premier angle d'attitude en second angle d'attitude selon la relation de conversion d'angle d'attitude (103) ; la conversion des secondes coordonnées tridimensionnelles en coordonnées tridimensionnelles cibles, et la conversion du second angle d'attitude en angle d'attitude cible (104) ; puis le réglage de la position et de l'angle d'attitude d'un objet virtuel correspondant à l'objet réel sur la base d'instructions des coordonnées tridimensionnelles cibles et de l'angle d'attitude cible (105). Au moyen du procédé et de l'appareil, la position et l'angle d'attitude d'un objet réel peuvent être déterminées en fonction de la position et de l'angle d'attitude communiqués par un objet de repérage, et la position ainsi que l'angle d'attitude dans un espace virtuel d'un objet virtuel correspondant à l'objet réel sont réglés.
PCT/CN2016/076533 2015-07-22 2016-03-16 Procédé et appareil permettant de régler la position et l'angle d'attitude d'un objet virtuel Ceased WO2017012364A1 (fr)

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CN201510435849 2015-07-22

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CN111984114A (zh) * 2020-07-20 2020-11-24 深圳盈天下视觉科技有限公司 基于虚拟空间的多人交互系统及其多人交互方法
CN114115277A (zh) * 2021-11-26 2022-03-01 中国建设银行股份有限公司 一种基于巡检机器人的巡检管理方法及相关设备
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CN111966953A (zh) * 2020-08-07 2020-11-20 四川泛华航空仪表电器有限公司 一种基于坐标转换的飞机姿态角计算方法
CN114115277A (zh) * 2021-11-26 2022-03-01 中国建设银行股份有限公司 一种基于巡检机器人的巡检管理方法及相关设备
CN114494635A (zh) * 2021-12-28 2022-05-13 北京城市网邻信息技术有限公司 虚拟装修方法、装置、设备及存储介质

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