A multifunctional active luminous motion capture device and method

Abstract

This application discloses a multifunctional active light-emitting motion capture device and method, relating to the technical field of motion capture. It includes a rigid body recognition module: used to acquire active infrared light emitted by an active rigid body at the camera end, analyze the active infrared light to obtain a marked rigid body; a dual-end synchronization module: used to acquire the rigid body timestamp information of the marked rigid body and the camera timestamp information at the camera end, generate a switch control signal, and perform synchronous control on the marked rigid body and the camera end; a light analysis module: used to extract the spatial position and displacement data of the marked rigid body from the active infrared light; and a motion generation module: used to generate the motion trajectory of the marked rigid body in three-dimensional space based on the spatial position and displacement data, and obtain the captured motion from multiple motion trajectories. This application has the effect of improving the accuracy and efficiency of identifying active rigid bodies during motion capture.

Description

Technical Field

[0001] The present application relates to the technical field of motion capture, and in particular to a multifunctional active luminous motion capture device and method. Background Art

[0002] Motion capture is a technology that records and processes the movements of people or other objects. It usually consists of sensors, signal capture equipment, data transmission equipment, and data processing equipment. At the same time, motion capture technology is widely used in the film industry, animation industry, motion analysis, virtual reality and other fields.

[0003] In the prior art, most marker points used for optical motion capture on the market are achieved by attaching reflective balls to the marker points. The infrared light emitted by the infrared lamp next to the camera lens is irradiated on the reflective ball when taking pictures, and then reflected back to the camera to locate the marker points in space. However, when the distance between the reflective ball and the camera increases, the reflected signal will weaken, thus affecting the camera's marker recognition. In addition, the marker points cannot be captured and recognized outdoors or when there are obstructions. In addition, when the locations of the points of two objects are the same, misidentification may occur in the recognition of rigid bodies, resulting in reduced recognition efficiency and accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional active luminous motion capture device and method to solve the problems raised in the above background technology.

[0005] In a first aspect, the present application provides a multifunctional active luminous motion capture device, the device comprising:

[0006] Rigid body recognition module: used for the camera end to obtain the active infrared light emitted by the active rigid body, analyze the active infrared light to obtain the ID information of the active rigid body, mark the active rigid body according to the ID information, and obtain a marked rigid body;

[0007] A dual-end synchronization module: used for obtaining the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, generating a switch control signal according to the rigid body timestamp information and the camera timestamp information, and performing synchronous control on the marked rigid body and the camera end according to the switch control signal;

[0008] Light analysis module: used for extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the active infrared light of the marking rigid body;

[0009] Action generation module: used to generate the motion trajectory of the marked rigid body in the three-dimensional space based on the spatial position and the displacement data, and obtain the captured action according to multiple motion trajectories.

[0010] Preferably, the step of acquiring the active infrared light emitted by the active rigid body by the camera end, analyzing the active infrared light, and obtaining the ID information of the active rigid body is specifically as follows:

[0011] The camera end obtains the active infrared light emitted by the active rigid body, extracts the spectrum data of the active infrared light, and screens the active infrared light according to the spectrum data to obtain the target infrared light;

[0012] Based on the target infrared light, light data in the target infrared light is extracted, and light source direction and brightness change data of the target infrared light are obtained according to the light data;

[0013] Determine the initial basic position of the active rigid body according to the light source direction, and obtain the initial identity information of the active rigid body according to the light change data;

[0014] The ID information of the active rigid body is obtained by combining the initial basic position and the initial identity information.

[0015] Preferably, the step of obtaining the initial identity information of the active rigid body according to the light change data is specifically:

[0016] Extracting the periodic variation law of the target infrared light according to the brightness variation data, and obtaining the variation time period of the target infrared light according to the periodic variation law;

[0017] Based on the changing time period, dividing the changing time period into frames to obtain periodic frames, and extracting the brightness of the target infrared light in each periodic frame according to the periodic frames;

[0018] Establishing a coordinate system, performing interval comparison on the light brightness according to the periodic frame to obtain two sets of light-dark change curves, and intersecting the two sets of light-dark change curves to obtain a target change curve;

[0019] An identity information segment is generated according to a ordinate value corresponding to a periodic frame in the target change curve, and initial identity information is obtained by combining a plurality of the identity information segments.

[0020] Preferably, the step of obtaining the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, and generating a switch control signal according to the rigid body timestamp information and the camera timestamp information is specifically as follows:

[0021] Obtaining rigid body timestamp information of the marked rigid body and camera timestamp information of the camera end;

[0022] According to the camera timestamp information, the current time point is obtained, and the frame rate information of the camera end is extracted based on the current time point;

[0023] generating a camera switch control signal according to the camera timestamp information and the frame rate information;

[0024] Extracting a rigid body time point corresponding to the rigid body timestamp information according to the rigid body timestamp information, and obtaining a time difference according to the rigid body time point and the current time point;

[0025] The camera timestamp information is used as the reference information, the reference information is calibrated according to the time difference to obtain calibration information, a rigid body switch control signal is generated according to the calibration information, and a switch control signal is generated by combining the camera switch control signal and the rigid body switch control signal.

[0026] Preferably, the step of synchronously controlling the marker rigid body and the camera end according to the switch control signal is specifically:

[0027] Packaging the switch control signal into data to generate a network data packet, and sending the network data packet from the camera end to the active rigid body;

[0028] After receiving the network data packet, the active rigid body parses and obtains the switch control signal, and records the time of the active rigid body according to the camera timestamp information and the frame rate information in the switch control signal to obtain a count value;

[0029] Based on the switch control signal, an exposure moment of the camera end is obtained, a first time axis phase of the camera end is obtained according to the exposure moment, and a second time axis phase of the active rigid body is obtained according to the count value;

[0030] Based on the first time axis phase and the second time axis phase, obtaining a time axis phase difference between the active rigid body and the camera end;

[0031] The count value is adjusted in real time according to the rigid switch control signal and the time axis phase difference.

[0032] Preferably, the step of extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the active infrared light of the marking rigid body is specifically:

[0033] According to the active infrared light of the marking rigid body, recording the light source of the active infrared light, and determining the light source point according to the light source;

[0034] Acquire a camera picture acquired by a camera end, and determine a center position of the camera picture and a light source position of the light source point in the camera picture;

[0035] Obtaining a first spatial phase difference between the light source point and the camera end according to the light source position and the center position;

[0036] Acquire the light speed of the active infrared light, and obtain a second spatial phase difference between the light source point and the camera end according to the light speed and the time axis phase difference;

[0037] The spatial position of the active rigid body is obtained according to the first spatial phase difference and the second spatial phase difference.

[0038] Preferably, after the step of obtaining the spatial position of the active rigid body according to the first spatial phase difference and the second spatial phase difference, the method further includes:

[0039] Setting a standard time period, dividing the standard time period by timestamps, and obtaining a plurality of standard timestamps;

[0040] According to the standard timestamp, marking the spatial position of the active rigid body in the standard timestamp to obtain a plurality of marked spatial positions of the active rigid body;

[0041] Connecting a plurality of the marked spatial positions in sequence to obtain a motion line graph of the active rigid body in space;

[0042] The motion trend of the active rigid body is obtained according to the motion line graph, and the motion line graph is smoothed according to the motion trend to obtain the displacement data of the active rigid body.

[0043] Preferably, the step of generating a motion trajectory of the marked rigid body in three-dimensional space based on the spatial position and the displacement data, and obtaining the captured action according to a plurality of the motion trajectories is specifically as follows:

[0044] Establishing a three-dimensional space coordinate system, adding the displacement data of the active rigid body to the three-dimensional space coordinate system, and generating a motion trajectory of the marked rigid body in the three-dimensional space;

[0045] According to the ID information of the marked rigid body, the part features corresponding to the marked rigid body are extracted, and the part features are matched to the motion trajectory to obtain the corresponding part motion of each marked rigid body;

[0046] Freeze-frame the plurality of body movements according to the standard timestamp to obtain a plurality of frozen movements;

[0047] The plurality of freeze-frame actions are partially bonded according to the plurality of ID information to generate an overall freeze-frame action, and then the overall freeze-frame action is played according to the standard timestamp to obtain the captured action.

[0048] In a second aspect, the present application provides a multifunctional active luminous motion capture method, the method comprising:

[0049] The camera end obtains the active infrared light emitted by the active rigid body, analyzes the active infrared light to obtain the ID information of the active rigid body, and marks the active rigid body according to the ID information to obtain a marked rigid body;

[0050] Acquire rigid body timestamp information of the marked rigid body and camera timestamp information of the camera end, generate a switch control signal according to the rigid body timestamp information and the camera timestamp information, and synchronously control the marked rigid body and the camera end according to the switch control signal;

[0051] Extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the active infrared light of the marking rigid body;

[0052] The motion trajectory of the marked rigid body in three-dimensional space is generated based on the spatial position and the displacement data, and the captured action is obtained according to a plurality of the motion trajectories.

[0053] In summary, the present application includes at least one of the following beneficial technical effects:

[0054] An active light-emitting device is set on the active rigid body to emit active infrared light, and then the ID information of each active rigid body is determined and marked according to the information contained in the active infrared light. Then, the switch control information is generated according to the timestamp information of the marked rigid body and the timestamp information of the camera end, and the exposure time point of the camera and the time point when the active rigid body emits active infrared light are synchronously controlled. The spatial position and displacement data of each active rigid body are obtained according to each active infrared light, and a motion trajectory is generated in three-dimensional space, and the captured action is generated according to the motion trajectory. The accuracy and efficiency of identifying active rigid bodies in the motion capture process are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a module block diagram of a multifunctional active light-emitting motion capture device provided in an embodiment of the present application;

[0056] Figure 2 It is a step flow chart of a multifunctional active luminous motion capture method provided in an embodiment of the present application.

[0057] Explanation of the accompanying drawings: 1. Rigid body recognition module; 2. Double-end synchronization module; 3. Light analysis module; 4. Action generation module. DETAILED DESCRIPTION

[0058] The following combination Figure 1-Figure 2 The present application is further described in detail, but the embodiments of the present invention are not limited thereto.

[0059] The embodiments of the present application disclose a multifunctional active luminous motion capture device and method.

[0060] In this embodiment, a multifunctional active light-emitting motion capture device is provided, the system comprising:

[0061] Rigid body recognition module: used for the camera to obtain the active infrared light emitted by the active rigid body, analyze the active infrared light, obtain the ID information of the active rigid body, mark the active rigid body according to the ID information, and obtain the marked rigid body;

[0062] Dual-end synchronization module: used to obtain the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, generate a switch control signal according to the rigid body timestamp information and the camera timestamp information, and perform synchronous control on the marked rigid body and the camera end according to the switch control signal;

[0063] Light analysis module: used to extract the spatial position and displacement data of the marked rigid body in the active infrared light according to the active infrared light of the marked rigid body;

[0064] Action generation module: used to generate the motion trajectory of the marked rigid body in three-dimensional space based on the spatial position and displacement data, and obtain the captured action according to multiple motion trajectories.

[0065] It should be pointed out that the above modules are only basic modules of this embodiment. In the specific implementation process, some modules can be appropriately added, reduced or modified without affecting the overall implementation effect.

[0066] The camera side obtains the active infrared light emitted by the active rigid body, analyzes the active infrared light, and obtains the ID information of the active rigid body. Specifically, the steps are as follows:

[0067] The camera obtains the active infrared light emitted by the active rigid body, extracts the spectrum data of the active infrared light, and screens the active infrared light according to the spectrum data to obtain the target infrared light;

[0068] Based on the target infrared light, light data in the target infrared light is extracted, and the light source direction and brightness change data of the target infrared light are obtained according to the light data;

[0069] Determine the initial basic position of the active rigid body according to the direction of the light source, and obtain the initial identity information of the active rigid body according to the light change data;

[0070] Combined with the initial basic position and the initial identity information, the ID information of the active rigid body is obtained.

[0071] In use, taking a certain motion capture scene as an example, active rigid bodies are worn on key parts of the motion capture personnel's body. The active rigid bodies emit active infrared light. After receiving the active infrared light, the light is filtered to remove the invalid infrared light and other interfering light in the environment to obtain the target infrared light. The light data in the target infrared light is extracted, and the light source direction is obtained as the front, and the light change data is the regular change of light and dark per second. According to the direction of the light source, the initial basic position of the active rigid body is obtained as the front, and the ID information of the active rigid body is obtained according to the regular change of light and dark per second. The ID information is displayed as data such as arm part and rigid body number.

[0072] The steps of obtaining the initial identity information of the active rigid body according to the light change data are as follows:

[0073] According to the brightness change data, the periodic change law of the target infrared light is extracted, and the change time period of the target infrared light is obtained according to the periodic change law;

[0074] Based on the changing time period, the changing time period is divided into frames to obtain periodic frames, and the brightness of the target infrared light in each periodic frame is extracted according to the periodic frames;

[0075] A coordinate system is established, and the brightness is compared at intervals according to the periodic frames to obtain two sets of brightness change curves. The two sets of brightness change curves are crossed to obtain the target change curve.

[0076] An identity information fragment is generated according to the ordinate value corresponding to the periodic frame in the target change curve, and the initial identity information is obtained by combining multiple identity information fragments.

[0077] In application, taking a certain motion capture scene as an example, according to the light change data, the periodic change law of the target infrared light is obtained as two short lights and one long light, and the cycle time is 2 seconds. According to the above data, the change time period of the target infrared light is 2 seconds. The 2-second change time period is divided into frames to obtain 48 periodic frames, and the brightness of the target infrared light in each periodic frame is extracted. A coordinate system is established, and the periodic frames are arranged in the coordinate system. Then, the brightness in the periodic frames is compared at intervals, such as comparing the brightness of the first frame and the third frame, and comparing the brightness of the second frame and the fourth frame, to obtain two sets of brightness change curves, and there are certain differences between the two brightness change curves. Then, the two sets of brightness change curves are crossed, and the cross is made according to the trend of the brightness change, and a new target change curve is generated after the two sets of brightness change curves are crossed. According to the ordinate value corresponding to the periodic frame in the target change curve, a list of values ​​within a period is obtained, such as 5, 9, 2, 5, 6, 3, 8... According to this list of values, identity information fragments are obtained, and multiple identity information fragments are combined to obtain the initial identity information.

[0078] The steps of obtaining the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, and generating the switch control signal according to the rigid body timestamp information and the camera timestamp information are specifically as follows:

[0079] Get the timestamp information of the rigid body and the camera timestamp information of the camera.

[0080] According to the camera timestamp information, obtain the current time point, and extract the frame rate information of the camera end based on the current time point;

[0081] Generate a camera switch control signal according to the camera timestamp information and frame rate information;

[0082] Extract the rigid body time point corresponding to the rigid body time stamp information according to the rigid body time stamp information, and obtain the time difference according to the rigid body time point and the current time point;

[0083] The camera timestamp information is used as the reference information, and the reference information is calibrated according to the time difference to obtain the calibration information, and a rigid body switch control signal is generated according to the calibration information, and a switch control signal is generated by combining the camera switch control signal and the rigid body switch control signal.

[0084] In application, taking a certain motion capture scene as an example, the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera are obtained by marking the rigid body and the single-chip microcomputer in the camera end. Then, according to the camera timestamp information, the current time point is obtained as 14:01:02:11. Based on the current time point as the base point, the frame rate information of the camera end at around 14:01:02:11 is extracted. The camera switch control signal of the camera end is generated according to the timestamp information and the frame rate information. When the camera end receives the signal, it starts to expose and shoot. Then, according to the rigid body timestamp information, the corresponding rigid body time point is obtained as 14:01:02:56, and the time difference between 14:01:02:11 and 14:01:02:56 is obtained as 0.45 seconds. Then, the camera timestamp information is used as the reference information, and the calibration information is obtained according to the time difference of 0.45 seconds, and then the rigid body switch control signal is generated according to the calibration information.

[0085] The steps of synchronously controlling the marker rigid body and the camera end according to the switch control signal are as follows:

[0086] Pack the switch control signal into data, generate a network data packet, and send the network data packet from the camera end to the active rigid body;

[0087] After receiving the network data packet, the active rigid body parses and obtains the switch control signal, and records the time of the active rigid body according to the camera timestamp information and frame rate information in the switch control signal to obtain the count value;

[0088] Based on the switch control signal, the exposure time of the camera end is obtained, the first time axis phase of the camera end is obtained according to the exposure time, and the second time axis phase of the active rigid body is obtained according to the count value;

[0089] Based on the first time axis phase and the second time axis phase, a time axis phase difference between the active rigid body and the camera end is obtained;

[0090] The count value is adjusted in real time according to the rigid body switch control signal and the time axis phase difference.

[0091] In use, taking a certain motion capture scene as an example, the switch control signal is packaged into data, and a network data packet is generated and sent to the active rigid body. The active rigid body obtains the camera timestamp information and frame rate information by parsing the switch control signal in the network data packet, and then calls the single-chip microcomputer in the active rigid body to record the time of the active rigid body according to the frame rate information, and obtains a count value of 1.82. Then, according to the switch control signal, the exposure time of the camera end is obtained as 13:41:32:26, ​​and then the first time axis phase of the camera end is obtained according to the exposure time, and the second time axis phase of the active rigid body is obtained according to the count value of 1.82. The two time axis phases are compared to obtain a time axis phase difference of 0.82. The count value is adjusted according to the time axis phase difference. When there is no phase difference, the count value is 1.

[0092] According to the active infrared light of the marked rigid body, the steps of extracting the spatial position and displacement data of the marked rigid body in the active infrared light are specifically as follows:

[0093] According to the active infrared light of the marking rigid body, the light source of the active infrared light is recorded, and the light source point is determined according to the light source;

[0094] Obtain the camera image obtained by the camera end, determine the center position of the camera image and the light source position of the light source point in the camera image;

[0095] According to the light source position and the center position, a first spatial phase difference between the light source point and the camera end is obtained;

[0096] Obtain the light speed of the active infrared light, and obtain the second spatial phase difference between the light source point and the camera end according to the light speed and the time axis phase difference;

[0097] The spatial position of the active rigid body is obtained according to the first spatial phase difference and the second spatial phase difference.

[0098] In application, taking a certain motion capture scene as an example, according to the active red light marking the rigid body, it is recorded that the direction of the light source of the active red light is the right front, and the light source point is determined according to this direction, and then the camera screen of the camera end is obtained to determine the center position of the camera screen and the upper right corner of the light source point in the camera screen. According to these two positions, the first spatial phase difference between the light source point and the camera end is obtained as the distance difference on the vertical plane, that is, the distance difference on the X-axis and Z-axis planes in three-dimensional space. Then, according to the existing knowledge of the light speed A of the active infrared light, according to the light speed A and the time axis phase difference of 0.82, the second spatial phase difference between the light source point and the camera end is obtained as the distance difference on the horizontal plane, that is, the distance difference on the X-axis and Y-axis planes in three-dimensional space. According to these two spatial phase differences, the spatial position of the active rigid body is obtained.

[0099] After the step of obtaining the spatial position of the active rigid body according to the first spatial phase difference and the second spatial phase difference, the method further includes:

[0100] Set a standard time period, divide the standard time period into timestamps, and obtain multiple standard timestamps;

[0101] According to the standard timestamp, the spatial position of the active rigid body is marked in the standard timestamp to obtain a plurality of marked spatial positions of the active rigid body;

[0102] Connect multiple marked spatial positions in sequence to obtain a motion line graph of the active rigid body in space;

[0103] The motion trend of the active rigid body is obtained according to the motion line graph, and the motion line graph is smoothed according to the motion trend to obtain the displacement data of the active rigid body.

[0104] In application, a certain motion capture scene is taken as an example. Set the standard time period to 10 seconds, divide the standard time period of 10 seconds by timestamp, and obtain N standard timestamps, and then mark the spatial position of each active rigid body in each standard timestamp. For example, the multiple marked spatial positions of one active rigid body are from the lower left corner to the upper right corner. After marking each spatial position in this process, multiple marked spatial positions of the active rigid body are obtained, and then connected by straight lines to obtain a zigzag line from the lower left corner to the upper right corner. Then, a circle is drawn according to the movement trend of the active rigid body, and the motion line graph is smoothed according to the trend of the circle to obtain displacement data.

[0105] The motion trajectory of the marked rigid body in three-dimensional space is generated based on the spatial position and displacement data, and the steps of obtaining the captured action according to multiple motion trajectories are as follows:

[0106] Establish a three-dimensional space coordinate system, add the displacement data of the active rigid body to the three-dimensional space coordinate system, and generate the motion trajectory of the marked rigid body in the three-dimensional space;

[0107] According to the ID information of the marked rigid body, the part features corresponding to the marked rigid body are extracted, and the part features are mapped to the motion trajectory to obtain the corresponding part motion of each marked rigid body;

[0108] Freeze the actions of multiple parts according to standard timestamps to obtain multiple freeze-frame actions;

[0109] Multiple freeze-frame actions are partially glued together according to multiple ID information to generate an overall freeze-frame action, and then the overall freeze-frame action is played according to a standard timestamp to obtain the captured action.

[0110] In application, a certain motion capture scene is taken as an example. The wrists, ankles and head of the motion capture personnel are all equipped with active rigid bodies. After the three-dimensional space coordinate system is established, the motion data of the active rigid bodies worn by the motion capture personnel on the wrists, ankles and head are input into the three-dimensional space coordinate system to obtain the motion trajectory of each active rigid body in the three-dimensional space. Then, according to the ID information of each active rigid body, the part features of each marked rigid body, namely the wrist feature, ankle feature and head feature, are extracted. After each feature is matched to the motion trajectory, the part movements of the wrists, ankles and head of the motion capture personnel are obtained. Then, the movements are frozen according to the standard timestamp to obtain multiple frozen movements, which are finally played in sequence to obtain the captured movements.

[0111] An embodiment of the present invention provides a multifunctional active luminous motion capture method, using any one of the multifunctional active luminous motion capture devices described above, the method comprising the following steps:

[0112] S100: The camera end obtains active infrared light emitted by the active rigid body, analyzes the active infrared light, obtains ID information of the active rigid body, and marks the active rigid body according to the ID information to obtain a marked rigid body;

[0113] S200: Acquire rigid body timestamp information of the marked rigid body and camera timestamp information of the camera end, generate a switch control signal according to the rigid body timestamp information and the camera timestamp information, and synchronously control the marked rigid body and the camera end according to the switch control signal;

[0114] S300: extracting the spatial position and displacement data of the marked rigid body in the active infrared light according to the active infrared light of the marked rigid body;

[0115] S400: Generate a motion trajectory of the marked rigid body in three-dimensional space based on the spatial position and displacement data, and obtain the captured action according to multiple motion trajectories.

[0116] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multifunctional active luminous motion capture device, characterized in that: include: Rigid body recognition module: used for the camera end to obtain the active infrared light emitted by the active rigid body, analyze the active infrared light to obtain the ID information of the active rigid body, mark the active rigid body according to the ID information, and obtain a marked rigid body; A dual-end synchronization module: used for obtaining the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, generating a switch control signal according to the rigid body timestamp information and the camera timestamp information, and performing synchronous control on the marked rigid body and the camera end according to the switch control signal; The specific steps include: The steps of obtaining the rigid body timestamp information of the marked rigid body and the camera timestamp information of the camera end, and generating a switch control signal according to the rigid body timestamp information and the camera timestamp information are specifically as follows: Obtaining rigid body timestamp information of the marked rigid body and camera timestamp information of the camera end; According to the camera timestamp information, the current time point is obtained, and the frame rate information of the camera end is extracted based on the current time point; generating a camera switch control signal according to the camera timestamp information and the frame rate information; Extracting a rigid body time point corresponding to the rigid body timestamp information according to the rigid body timestamp information, and obtaining a time difference according to the rigid body time point and the current time point; Using the camera timestamp information as reference information, calibrating the reference information according to the time difference to obtain calibration information, generating a rigid body switch control signal according to the calibration information, and generating a switch control signal by combining the camera switch control signal and the rigid body switch control signal; The step of synchronously controlling the marker rigid body and the camera end according to the switch control signal is specifically: Packaging the switch control signal into data to generate a network data packet, and sending the network data packet from the camera end to the active rigid body; After receiving the network data packet, the active rigid body parses and obtains the switch control signal, and records the time of the active rigid body according to the camera timestamp information and the frame rate information in the switch control signal to obtain a count value; Based on the switch control signal, an exposure moment of the camera end is obtained, a first time axis phase of the camera end is obtained according to the exposure moment, and a second time axis phase of the active rigid body is obtained according to the count value; Based on the first time axis phase and the second time axis phase, obtaining a time axis phase difference between the active rigid body and the camera end; According to the rigid switch control signal and the time axis phase difference, the count value is adjusted in real time; Light analysis module: used for extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the active infrared light of the marking rigid body; Action generation module: used to generate the motion trajectory of the marked rigid body in the three-dimensional space based on the spatial position and the displacement data, and obtain the captured action according to multiple motion trajectories.

2. A multifunctional active luminous motion capture device according to claim 1, characterized in that: The camera end obtains the active infrared light emitted by the active rigid body, analyzes the active infrared light, and obtains the ID information of the active rigid body, specifically: The camera end obtains the active infrared light emitted by the active rigid body, extracts the spectrum data of the active infrared light, and screens the active infrared light according to the spectrum data to obtain the target infrared light; Based on the target infrared light, light data in the target infrared light is extracted, and light source direction and brightness change data of the target infrared light are obtained according to the light data; Determine the initial basic position of the active rigid body according to the light source direction, and obtain the initial identity information of the active rigid body according to the light change data; The ID information of the active rigid body is obtained by combining the initial basic position and the initial identity information.

3. A multifunctional active luminous motion capture device according to claim 2, characterized in that: The step of obtaining the initial identity information of the active rigid body according to the light change data is specifically: Extracting the periodic variation law of the target infrared light according to the brightness variation data, and obtaining the variation time period of the target infrared light according to the periodic variation law; Based on the changing time period, dividing the changing time period into frames to obtain periodic frames, and extracting the brightness of the target infrared light in each periodic frame according to the periodic frames; Establishing a coordinate system, performing interval comparison on the light brightness according to the periodic frame to obtain two sets of light-dark change curves, and intersecting the two sets of light-dark change curves to obtain a target change curve; An identity information segment is generated according to a ordinate value corresponding to a periodic frame in the target change curve, and initial identity information is obtained by combining a plurality of the identity information segments.

4. The multifunctional active luminous motion capture device according to claim 1, characterized in that: The step of extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the marking rigid body is specifically: According to the active infrared light of the marking rigid body, recording the light source of the active infrared light, and determining the light source point according to the light source; Acquire a camera picture acquired by a camera end, and determine a center position of the camera picture and a light source position of the light source point in the camera picture; Obtaining a first spatial phase difference between the light source point and the camera end according to the light source position and the center position; Acquire the light speed of the active infrared light, and obtain a second spatial phase difference between the light source point and the camera end according to the light speed and the time axis phase difference; The spatial position of the active rigid body is obtained according to the first spatial phase difference and the second spatial phase difference.

5. The multifunctional active luminous motion capture device according to claim 4, characterized in that: After the step of obtaining the spatial position of the active rigid body according to the first spatial phase difference and the second spatial phase difference, the method further includes: Setting a standard time period, dividing the standard time period by timestamps, and obtaining a plurality of standard timestamps; According to the standard timestamp, marking the spatial position of the active rigid body in the standard timestamp to obtain a plurality of marked spatial positions of the active rigid body; Connecting a plurality of the marked spatial positions in sequence to obtain a motion line graph of the active rigid body in space; The motion trend of the active rigid body is obtained according to the motion line graph, and the motion line graph is smoothed according to the motion trend to obtain the displacement data of the active rigid body.

6. The multifunctional active luminous motion capture device according to claim 5, characterized in that: The steps of generating a motion trajectory of the marked rigid body in three-dimensional space based on the spatial position and the displacement data, and obtaining the captured action according to a plurality of the motion trajectories are specifically as follows: Establishing a three-dimensional space coordinate system, adding the displacement data of the active rigid body to the three-dimensional space coordinate system, and generating a motion trajectory of the marked rigid body in the three-dimensional space; According to the ID information of the marked rigid body, the part features corresponding to the marked rigid body are extracted, and the part features are matched to the motion trajectory to obtain the corresponding part motion of each marked rigid body; Freeze-frame the plurality of body movements according to the standard timestamp to obtain a plurality of frozen movements; The plurality of freeze-frame actions are partially bonded according to the plurality of ID information to generate an overall freeze-frame action, and then the overall freeze-frame action is played according to the standard timestamp to obtain the captured action.

7. A multifunctional active luminous motion capture method, the method using a multifunctional active luminous motion capture device as claimed in any one of claims 1 to 6, characterized in that: The method comprises the following steps: The camera end obtains the active infrared light emitted by the active rigid body, analyzes the active infrared light to obtain the ID information of the active rigid body, and marks the active rigid body according to the ID information to obtain a marked rigid body; Acquire rigid body timestamp information of the marked rigid body and camera timestamp information of the camera end, generate a switch control signal according to the rigid body timestamp information and the camera timestamp information, and synchronously control the marked rigid body and the camera end according to the switch control signal; Extracting the spatial position and displacement data of the marking rigid body in the active infrared light according to the active infrared light of the marking rigid body; The motion trajectory of the marked rigid body in three-dimensional space is generated based on the spatial position and the displacement data, and the captured action is obtained according to a plurality of the motion trajectories.

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