Rigid body generation method, rigid body generation device, rigid body generation equipment and storage medium
A rigid body and mean square error technology, applied in the field of optical tracking, can solve problems that affect the overall performance and robustness of the tracking system, low accuracy, and difficult to distinguish rigid bodies.
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Embodiment 1
[0040] figure 1 It is a flow chart of a rigid body generation method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where a rigid body is generated for a target object during optical tracking. Specifically, the method for generating a rigid body may be performed by a rigid body generating device, which may be implemented by means of software and / or hardware, and integrated into the device. Further, the devices include, but are not limited to: electronic devices such as computers, industrial computers, and medical equipment.
[0041] figure 2 It is a schematic diagram of the application scene of the rigid body generation method in Embodiment 1 of the present invention. Such as figure 2 As shown, to perform infrared optical tracking on the target object 10, a certain number of marker points 11 are first generated according to the structure of the target object 10. The marker points (Marker) are also called tracking balls, ...
Embodiment 2
[0056] image 3 It is a flow chart of a rigid body generation method provided by Embodiment 2 of the present invention. This embodiment is specifically optimized on the basis of the foregoing embodiments. This embodiment specifically describes the process of determining the matching degree and judging whether the matching degree satisfies a preset condition. It should be noted that for technical details not exhaustively described in this embodiment, reference may be made to any of the foregoing embodiments.
[0057] Specifically, refer to image 3 , the method specifically includes the following steps:
[0058] S201. Generate marking points whose number is the number of marking points.
[0059] Exemplarily, the marker points are randomly generated according to the number of marker points to be generated (expressed as m), and then it is judged whether the distance value between each marker point meets the requirement of the prior condition for distance, only the marker poin...
Embodiment 3
[0094] Figure 4 It is a structural diagram of a rigid body generation device provided by Embodiment 3 of the present invention. The rigid body generating device provided in this embodiment includes:
[0095] A marker point generating module 310, configured to generate at least three marker points as the current rigid body based on a given prior condition;
[0096] A matching degree determination module 320, configured to determine the matching degree between the current rigid body and each generated rigid body in the rigid body set if the given rigid body set is currently non-empty;
[0097] The rigid body saving module 330 is configured to save the current rigid body as a new generated rigid body in the rigid body set when the matching degrees meet the preset conditions, and return to execute the generation operation of the marker points until the rigid body The total amount of rigid bodies in the collection reaches a preset threshold.
[0098] A rigid body generation dev...
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