Posture transformation method and device of human skeleton model, medium and equipment

Abstract

The invention provides a posture transformation method and device for a human skeleton model, a medium and equipment, and the method comprises the steps: determining second coordinates of each skeleton after posture transformation based on target parameters of posture transformation of the human skeleton model and first coordinates of each skeleton in an initial posture; correcting the second coordinates based on the second coordinates of each skeleton and the second coordinates of the symmetrical skeleton in the human skeleton model to obtain target coordinates of each skeleton; that is, the coordinate transformation quantity of the bones in the posture transformation process is determined according to the rotation angles of the rotation joint axes corresponding to the bones and the preorder rotation joint axes, the transformed coordinate values are calculated by combining the initial coordinate values of the bones, and the target coordinates of the bones are obtained based on mutual correction of the second coordinates of the bones and the symmetrical bones of the bones. Therefore, the posture change of the human skeleton model is realized, and the transformation of the skeletons is determined based on the rotation angle of the rotary joint shaft, so that the relative position relationship between the skeletons is ensured, and the authenticity is ensured.

Description

Technical Field

[0001] This application relates to the technical field of attitude transformation of human bone geometric models, and specifically relates to a method, device, medium and equipment for attitude transformation of a human bone model. Background Art

[0002] The human finite element model (High Bandwidth Memory, abbreviated as HBM) is a newly emerging detection tool in the automotive field, which can provide a model for working condition evaluation. In the evaluation work, according to different evaluation working conditions, it is required that the HBM transforms different postures. However, the transformation of the HBM finite element mesh is not yet mature, and the methods for generating the finite element meshes of the same HBM model in different postures are limited. Most of them are based on CT scan data (lying posture) to generate a basic standing posture model, and then the posture of the basic standing posture finite element model is deformed. Inevitably, serious local mesh compression deformation and tissue deformation that does not conform to the true anatomical relationship will occur during the deformation process. The manual adjustment workload is extremely large, and there is no target posture as a reference. Whether the transformed finite element model can ensure the reasonable change of its physiological structure, and the mesh quality after transformation is poor and cannot be applied to the evaluation work. Therefore, there is an urgent need for a method that can realize the transformation of the HBM and ensure the authenticity of its bone model. Summary of the Invention

[0003] In order to solve the above technical problems, this application is proposed. The embodiments of this application provide a method, device, medium and equipment for attitude transformation of a human bone model.

[0004] According to one aspect of this application, a method for attitude transformation of a human bone model is provided, including: obtaining an initial attitude of the human bone model; determining second coordinates of each bone after attitude transformation based on target parameters of the attitude transformation of the human bone model and first coordinates of each bone in the initial attitude; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; correcting the second coordinates based on the second coordinates of each bone in the human bone model and the second coordinates of the symmetric bones to obtain the target coordinates of each bone.

[0005] In one embodiment, determining the second coordinates of each bone after the pose transformation based on the target parameters of the pose transformation of the human bone model and the first coordinates of each bone in the initial pose includes: for a single bone, calculating a coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angles of the previous rotation joint axes; and calculating the second coordinates of the single bone based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone.

[0006] In one embodiment, calculating the coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angles of the previous rotation joint axes includes: calculating a previous coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the previous rotation joint axis of the rotation joint axis corresponding to the single bone based on the rotation angle of the previous rotation joint axis of the rotation joint axis corresponding to the single bone; and calculating a current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone.

[0007] In one embodiment, calculating the second coordinates of the single bone based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone includes: calculating the second coordinates of the single bone based on the previous coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinates of the single bone.

[0008] In one embodiment, correcting the second coordinates based on the second coordinates of each bone in the human bone model and the second coordinates of the symmetric bones to obtain the target coordinates of each bone includes: for a single bone, obtaining the symmetric bone of the single bone; wherein, the single bone and the symmetric bone are symmetric about the spine; and correcting the second coordinates of the single bone and the symmetric bone based on the second coordinates of the single bone and the second coordinates of the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone.

[0009] In one embodiment, correcting the second coordinates of the single bone and the symmetric bone based on the second coordinates of the single bone and the second coordinates of the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone includes: calculating a first symmetric coordinate of the symmetric bone symmetric about the spine and a second symmetric coordinate of the single bone symmetric about the spine; and respectively correcting the second coordinates of the single bone and the symmetric bone based on the first symmetric coordinate and the second symmetric coordinate to obtain the target coordinates of the single bone and the symmetric bone.

[0010] In one embodiment, the correcting the second coordinates of the single bone and the symmetric bone respectively based on the first symmetric coordinate and the second symmetric coordinate to obtain the target coordinates of the single bone and the symmetric bone includes: calculating the target coordinates of the single bone based on the first symmetric coordinate and the second coordinate of the single bone; calculating the target coordinates of the symmetric bone based on the second symmetric coordinate and the second coordinate of the symmetric bone.

[0011] According to another aspect of the present application, there is provided a posture transformation device for a human bone model, including: an initial posture acquisition module configured to acquire an initial posture of the human bone model; a transformation coordinate determination module configured to determine second coordinates of each bone after posture transformation based on target parameters of the posture transformation of the human bone model and first coordinates of each bone in the initial posture; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; a target coordinate correction module configured to correct the second coordinates based on the second coordinates of each bone and the second coordinates of the symmetric bone in the human bone model to obtain the target coordinates of each bone.

[0012] According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing any one of the above methods.

[0013] According to another aspect of the present application, there is provided an electronic device including: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute any one of the above methods.

[0014] A method, device, medium, and equipment for posture transformation of a human bone model provided by this application. The method includes obtaining the initial posture of the human bone model; determining the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human bone model and the first coordinates of each bone in the initial posture. Among them, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis. The rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters. Correcting the second coordinates based on the second coordinates of each bone and the second coordinates of the symmetric bones in the human bone model to obtain the target coordinates of each bone. That is, the coordinate transformation amount of the bone during the posture transformation is determined according to the rotation angles of the corresponding rotation joint axis and the previous rotation joint axis of each bone, and the transformed coordinate value is calculated by combining the initial coordinate value of the bone. And mutual correction is performed based on the second coordinates of each bone and its symmetric bone to obtain the target coordinates of the bone, so as to realize the posture change of the human bone model, and determine the transformation of the bone based on the rotation angle of the rotation joint axis to ensure the relative position relationship between each bone, thereby ensuring its authenticity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. They are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 is a flowchart of a method for posture transformation of a human bone model provided by an exemplary embodiment of the present application.

[0017] Figure 2 is a structural diagram of various postures of a human bone model provided by an exemplary embodiment of the present application.

[0018] Figure 3 is a structural diagram of a device for posture transformation of a human bone model provided by an exemplary embodiment of the present application.

[0019] Figure 4 is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, exemplary embodiments according to the present application will be described in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0021] Figure 1 It is a schematic flowchart of a method for posture transformation of a human bone model provided by an exemplary embodiment of the present application. As Figure 1 shown, the method for posture transformation of the human bone model includes the following steps: Step 110: Obtain the initial posture of the human bone model.

[0022] In the present application, by acquiring the CT images of the human bones, performing tissue segmentation on the CT images and performing reverse reconstruction to obtain a three-dimensional digital model (including the node information of each tissue and organ), and classifying and initializing the point cloud coordinates formed by each tissue, a human bone model and its initial posture (usually a lying posture or a standing posture) are obtained. Considering the relative movement of the human bones, in the present application, the rotation center referred to when each cone rotates is used as the geometric model center (rotation joint axis) of the adjacent intervertebral disc. The rotation joint axes of the upper limbs include the collarbone, shoulder, elbow, wrist, and phalanges (symmetrical on the left and right). The rotation joint axes of the lower limbs include the hip, knee, ankle, and metatarsal bones (symmetrical on the left and right). Since the model is symmetrical, the limbs on both sides of the model should change synchronously.

[0023] Step 120: Based on the target parameters of the posture transformation of the human bone model and the first coordinates of each bone in the initial posture, determine the second coordinates of each bone after the posture transformation.

[0024] Among them, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis. The rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters. In the present application, by knowing the rotation angles of each rotation joint axis between the postures before and after the transformation, the coordinate values of each bone after the posture transformation are determined, so as to determine the second coordinates of each bone after the posture transformation. The present application considers that the rotation of some rotation joint axes will affect the positions of the subsequent rotation joint axes and the corresponding bones. For example, the rotation of the elbow will affect the position changes of the wrist and phalanges. Therefore, the influence of the rotation angles of the rotation joint axes corresponding to the bones and the rotation angles of the previous rotation joint axes on the positions of the bones is considered simultaneously to improve the accuracy of bone coordinate calculation.

[0025] Step 130: Based on the second coordinates of each bone in the human bone model and the second coordinates of the symmetrical bones, correct the second coordinates to obtain the target coordinates of each bone.

[0026] After calculating the second coordinates of each bone in the human bone model, the second coordinates of each bone are corrected by using the second coordinates of each bone and its symmetrical bone (the symmetrical bone symmetrical about the spine) to ensure the symmetry of the human bone model, thereby improving the stability and accuracy of the posture transformation.

[0027] A method for posture transformation of a human bone model provided by this application includes obtaining the initial posture of the human bone model; determining the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human bone model and the first coordinates of each bone in the initial posture; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; correcting the second coordinates based on the second coordinates of each bone and the second coordinates of the symmetric bones in the human bone model to obtain the target coordinates of each bone; that is, determining the coordinate transformation amount of the bones during the posture transformation according to the rotation angles of the corresponding rotation joint axis and the previous rotation joint axis of each bone, calculating the transformed coordinate values in combination with the initial coordinate values of the bones, and mutually correcting based on the second coordinates of each bone and its symmetric bone to obtain the target coordinates of the bones, thereby realizing the posture change of the human bone model, and determining the transformation of the bones based on the rotation angles of the rotation joint axes to ensure the relative position relationship between the bones, thereby ensuring its authenticity.

[0028] In one embodiment, the specific implementation manner of the above step 120 may be: for a single bone, calculating the coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the previous rotation joint axis; calculating the second coordinates of the single bone based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone.

[0029] This application calculates the coordinate transformation matrix (which may include one or more) of a single bone according to the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the previous rotation joint axis (which may be absent, or may include one or more), and calculates the second coordinates of the single bone in combination with all the coordinate transformation matrices and the first coordinates of the single bone.

[0030] In one embodiment, the specific implementation manner of the above step 120 may be: calculating the previous coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the previous rotation joint axis of the rotation joint axis corresponding to the single bone based on the rotation angle of the previous rotation joint axis of the rotation joint axis corresponding to the single bone; calculating the current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone.

[0031] The present application calculates the previous coordinate transformation matrix of the rotation joint axis corresponding to a single bone relative to the previous rotation joint axis according to the rotation angle of the previous rotation joint axis corresponding to the rotation joint axis of the single bone, and at the same time calculates the current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone according to the rotation angle of the rotation joint axis corresponding to the single bone. That is, the current coordinate transformation matrix of the single bone relative to the corresponding rotation joint axis and the previous coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to its previous rotation joint axis are calculated to determine the coordinate transformation amount of the single bone. The following takes the sitting posture of a human body in a vehicle as an example for illustration. Specifically, during the posture transformation process, not only the postures of the limbs need to be transformed, but the curvature transformation of the spine is also part of the posture transformation. Different postures correspond to different spinal curvatures, and the spine is composed of 24 vertebrae with complex rotational relationships. Therefore, it is necessary to first define and transform the spinal curvature. This patent defines the sitting postures of a human body in a vehicle including a driving posture, a normal riding posture, and a large-angle riding posture, and at the same time defines the spinal curvatures corresponding to the three sitting postures. After defining the spinal curvature (spinal form), the angles of the limbs are defined. The angle information of the rotation joint axes corresponding to the three sitting postures is shown in Table 1 and Table 2: Table 1 Angle Information Table of Rotation Joint Axes Corresponding to Driving Posture and Normal Riding Posture

[0032] Table 2 Angle Information Table of Rotation Joint Axes Corresponding to Large-Angle Riding Posture

[0033] In an embodiment, the specific implementation manner of the above step 120 may be: calculating the second coordinate of the single bone based on the previous coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of the single bone.

[0034] After the present application calculates the previous coordinate transformation matrix and the current coordinate transformation matrix, it combines the previous coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of the single bone to calculate the second coordinate of the single bone. Specifically, the present application arranges the relative relationships between the respective rotation joint axes from bottom to top. Since the lowest lumbar vertebra is the vertebra closest to the pelvis, it can be approximately described as the previous rotation joint axis of all the remaining vertebrae. After rotating the lumbar vertebra, the remaining vertebrae will all cause relative rotations to ensure the rigid rotation between the vertebrae. After determining the angle of the lumbar vertebra, then rotate its subsequent rotation joint axis, and so on, until the entire spine is adjusted to the target angle. The rotation joint axes in other positions (such as the upper limbs and lower limbs, etc.) are similar.

[0035] Since the bones do not deform during the pose transformation, the bones are defined as rigid and do not deform during coordinate transformation. The coordinate transformation method of the bones is as follows: ; where V c is the vertex coordinate of the current bone before transformation, is the vertex coordinate of the current bone after transformation, are the rotation joint axes corresponding to the current bone c the coordinate transformation matrix corresponding to the rotation angle, the rotation joint axis c relative to its previous rotation joint axis p 1 (i.e., the first previous rotation joint axis c the coordinate transformation matrix, the rotation joint axis p 1 of the coordinate transformation matrix corresponding to the rotation angle, the rotation joint axis p 1 relative to its previous rotation joint axis p 2 of the coordinate transformation matrix, the rotation joint axis p n the coordinate transformation matrix corresponding to the rotation angle, the rotation joint axis p n relative to its previous rotation joint axis w the coordinate transformation matrix.

[0036] During the rotation transformation of the spine, by determining the overall rotation angles of each vertebra in the cervical, thoracic, and lumbar vertebrae, to ensure smooth transformation between vertebrae, the angles are evenly distributed to each vertebral segment. For example, when transforming to the sitting position of an ordinary occupant, each of the 7 cervical vertebrae in the original model rotates relatively by 2 degrees, for a total of about 15 degrees; each of the 12 thoracic vertebrae rotates relatively by 0.7 degrees, for a total of about 10 degrees; the relative angles of the 5 lumbar vertebrae remain unchanged. These rotation angles are used as input parameters, transformed into the rotation axis matrix M, and substituted into the formula for coordinate transformation, and checked after each coordinate transformation, so that the spine shape approaches the provided physiological curvature line. Using this transformation method, the spine can be adjusted into different postures.

[0037] In one embodiment, the specific implementation manner of the above step 130 may be: for a single bone, obtain the symmetric bone of the single bone; wherein, the single bone and the symmetric bone are symmetric about the spine; based on the second coordinate of the single bone and the second coordinate of the symmetric bone, correct the second coordinates of the single bone and the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone.

[0038] During the attitude transformation process, in order to ensure the synchronous transformation of the limbs on both the left and right sides, it is necessary to perform symmetric correction on the bones. Specifically, in this application, multiple symmetric center point clouds in the curved surface image are selected, such as the center points on the front surface of each vertebra of the human spine, the posterior caudal process points, the surface projection points of the geometric center point of the pelvis, and the upper and lower vertex points of the skull as the symmetric center point clouds. And based on the multiple symmetric center point clouds, the median sagittal plane of the human body from the skull to the sacrum in the human bone model is obtained, that is, the median sagittal plane is used as the axis of symmetry. After determining the axis of symmetry in this application, the symmetric bone of a single bone is obtained, and the second coordinates of both the single bone and the symmetric bone (the bone obtained by mirroring about the axis of symmetry) are corrected simultaneously based on the symmetric bone and the second coordinates of the single bone to obtain the target coordinates. In order to reduce the amount of calculation, this application can directly correct the two endpoints of the rotational joint axis respectively to obtain the corrected rotational joint axis, and the symmetry of each bone obtained by transforming based on the corrected rotational joint axis can also be ensured.

[0039] In one embodiment, the specific implementation manner of the above step 130 may be: calculating the first symmetric coordinate of the symmetric bone symmetric about the spine and the second symmetric coordinate of the single bone symmetric about the spine; based on the first symmetric coordinate and the second symmetric coordinate, respectively correcting the second coordinates of the single bone and the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone.

[0040] This application calculates the first symmetric coordinate of the symmetric bone symmetric about the spine and the second symmetric coordinate of the single bone symmetric about the spine according to the second coordinates of the single bone and its symmetric bone, and combines the second coordinates, the first symmetric coordinate and the second symmetric coordinate of the single bone and its symmetric bone to correct the coordinate values of the single bone and the symmetric bone respectively to obtain the target coordinates.

[0041] In one embodiment, the specific implementation manner of the above step 130 may be: calculating the target coordinate of the single bone based on the first symmetric coordinate and the second coordinate of the single bone; calculating the target coordinate of the symmetric bone based on the second symmetric coordinate and the second coordinate of the symmetric bone.

[0042] This application calculates the target coordinate of the single bone according to the first symmetric coordinate and the second coordinate of the single bone. For example, calculating the average value of the first symmetric coordinate and the second coordinate of the single bone and using this average value as the target coordinate of the single bone; similarly, the average value of the second symmetric coordinate and the second coordinate of the symmetric bone can be calculated and used as the target coordinate of the symmetric bone.

[0043] Specifically, assuming that the coordinates of the two endpoints of a joint on one side of the axis of symmetry are A and B respectively, and the coordinates of the two endpoints of the corresponding joint on the other side are A' and B' respectively, then the target coordinates of the two endpoints of this side joint and the target coordinates of the two endpoints of the corresponding joint are calculated by the following formula.

[0044] A ← (A + (-A') / 2), B ← (B + (-B')) / 2, A' ← (A' + (-A)) / 2, B' ← (B' + (-B)) / 2.

[0045] Where, -A, -B, -A', and -B' are the coordinate values obtained by mirroring A, B, A', and B with respect to the symmetry axis respectively, that is, the average value of the symmetric coordinates obtained by mirroring the endpoints of one side of the joint point with respect to the symmetry axis and the coordinates of the corresponding endpoints on the other side is used as the target coordinate of the endpoints on the other side.

[0046] Based on the above posture transformation method, the present application can obtain human body bone models in various postures on the basis of the initial posture. Figure 2 Several posture structures obtained by transforming from the initial posture are shown.

[0047] Figure 3 It is a schematic structural diagram of a posture transformation device for a human body bone model provided by an exemplary embodiment of the present application. As Figure 3 shown, the posture transformation device 20 of the human body bone model includes: an initial posture acquisition module 21, configured to acquire the initial posture of the human body bone model; a transformed coordinate determination module 22, configured to determine the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human body bone model and the first coordinates of each bone in the initial posture; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; a target coordinate correction module 23, configured to correct the second coordinates based on the second coordinates of each bone in the human body bone model and the second coordinates of the symmetric bones to obtain the target coordinates of each bone.

[0048] A posture transformation device for a human bone model provided by the present application obtains the initial posture of the human bone model through the initial posture acquisition module 21; the transformation coordinate determination module 22 determines the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human bone model and the first coordinates of each bone in the initial posture; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; the target coordinate correction module 23 corrects the second coordinates based on the second coordinates of each bone in the human bone model and the second coordinates of the symmetric bones to obtain the target coordinates of each bone; that is, the coordinate transformation amount of the bones during the posture transformation is determined according to the rotation angles of the corresponding rotation joint axis and the previous rotation joint axis of each bone, and the transformed coordinate values are calculated by combining the initial coordinate values of the bones, and the second coordinates of each bone and its symmetric bone are mutually corrected to obtain the target coordinates of the bones, so as to realize the posture change of the human bone model, and the transformation of the bones is determined based on the rotation angle of the rotation joint axis to ensure the relative position relationship between the bones, thereby ensuring its authenticity.

[0049] In one embodiment, the above transformation coordinate determination module 22 can be further configured as: for a single bone, calculate the coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the previous rotation joint axis; calculate the second coordinates of the single bone based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone.

[0050] In one embodiment, the above transformation coordinate determination module 22 can be further configured as: calculate the previous coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the previous rotation joint axis of the rotation joint axis corresponding to the single bone based on the rotation angle of the previous rotation joint axis of the rotation joint axis corresponding to the single bone; calculate the current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone.

[0051] In one embodiment, the above transformation coordinate determination module 22 can be further configured as: calculate the second coordinates of the single bone based on the previous coordinate transformation matrix, the current coordinate transformation matrix and the first coordinates of the single bone.

[0052] In one embodiment, the above target coordinate correction module 23 can be further configured as: for a single bone, obtain the symmetric bone of the single bone; wherein, the single bone and the symmetric bone are symmetric about the spine; correct the second coordinates of the single bone and the symmetric bone based on the second coordinates of the single bone and the second coordinates of the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone.

[0053] In one embodiment, the above-mentioned target coordinate correction module 23 may be further configured to: calculate a first symmetric coordinate of the symmetric bones symmetric about the spine and a second symmetric coordinate of a single bone symmetric about the spine; based on the first symmetric coordinate and the second symmetric coordinate, correct the second coordinates of the single bone and the symmetric bones respectively to obtain the target coordinates of the single bone and the symmetric bones.

[0054] In one embodiment, the above-mentioned target coordinate correction module 23 may be further configured to: calculate the target coordinate of the single bone based on the first symmetric coordinate and the second coordinate of the single bone; calculate the target coordinate of the symmetric bones based on the second symmetric coordinate and the second coordinate of the symmetric bones.

[0055] Next, refer to Figure 4 to describe the electronic device according to an embodiment of the present application. The electronic device may be either or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the input signals collected by them.

[0056] Figure 4 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0057] As Figure 4 shown, the electronic device 10 includes one or more processors 11 and a memory 12.

[0058] The processor 11 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0059] The memory 12 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage media.

[0060] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0061] When the electronic device is a stand-alone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0062] In addition, the input device 13 may further include, for example, a keyboard, a mouse, and the like.

[0063] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and the like.

[0064] Of course, for simplicity, Figure 4 only some of the components of the electronic device 10 related to the present application are shown in, and components such as a bus, an input / output interface, and the like are omitted. In addition, according to specific application scenarios, the electronic device 10 may further include any other appropriate components.

[0065] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0066] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0067] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0068] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0069] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the above-disclosed specific details are only for illustrative and easy-to-understand purposes and are not limitations. The above details do not limit the present application to necessarily implement using the above specific details.

[0070] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0071] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0072] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0073] The foregoing description has been presented for purposes of illustration and description. In addition, the description is not intended to limit embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A method for posture transformation of a human bone model, characterized in that, Including: Obtain the initial pose of the human body bone model; Based on the target parameters of the pose transformation of the human body bone model and the first coordinates of each bone in the initial pose, determine the second coordinates of each bone after the pose transformation; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; Based on the second coordinates of each bone in the human body bone model and the second coordinates of the symmetric bones, correct the second coordinates to obtain the target coordinates of each bone.

2. The method for posture transformation of the human bone model according to claim 1, wherein The step of determining the second coordinates of each bone after the pose transformation based on the target parameters of the pose transformation of the human body bone model and the first coordinates of each bone in the initial pose includes: For a single bone, calculate the coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the previous rotation joint axis; Based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone, calculate the second coordinates of the single bone.

3. The method for posture transformation of the human bone model according to claim 2, characterized in that The step of calculating the coordinate transformation matrix of the single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the previous rotation joint axis includes: Based on the rotation angle of the previous rotation joint axis of the rotation joint axis corresponding to the single bone, calculate the previous coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the previous rotation joint axis of the rotation joint axis corresponding to the single bone; Based on the rotation angle of the rotation joint axis corresponding to the single bone, calculate the current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone.

4. The method for posture transformation of the human bone model according to claim 3, wherein The step of calculating the second coordinates of the single bone based on the coordinate transformation matrix of the single bone and the first coordinates of the single bone includes: Based on the previous coordinate transformation matrix, the current coordinate transformation matrix and the first coordinates of the single bone, calculate the second coordinates of the single bone.

5. The method for changing the posture of a human skeleton model according to claim 1, characterized in that: The step of correcting the second coordinates based on the second coordinates of each bone in the human body bone model and the second coordinates of the symmetric bones to obtain the target coordinates of each bone includes: For a single bone, obtain the symmetric bone of the single bone; wherein, the single bone and the symmetric bone are symmetric about the spine; Based on the second coordinates of the single bone and the second coordinates of the symmetric bone, correct the second coordinates of the single bone and the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone.

6. The method for posture transformation of the human bone model according to claim 5, wherein, The step of correcting the second coordinates of the single bone and the symmetric bone based on the second coordinates of the single bone and the second coordinates of the symmetric bone to obtain the target coordinates of the single bone and the symmetric bone includes: Calculate the first symmetric coordinates of the symmetric bone symmetric about the spine and the second symmetric coordinates of the single bone symmetric about the spine; Based on the first symmetric coordinate and the second symmetric coordinate, correct the second coordinates of the single bone and the symmetric bone respectively to obtain the target coordinates of the single bone and the symmetric bone.

7. The method for changing the posture of a human skeleton model according to claim 6, characterized in that: The correcting the second coordinates of the single bone and the symmetric bone respectively based on the first symmetric coordinate and the second symmetric coordinate to obtain the target coordinates of the single bone and the symmetric bone includes: Calculating the target coordinate of the single bone based on the first symmetric coordinate and the second coordinate of the single bone; Calculating the target coordinate of the symmetric bone based on the second symmetric coordinate and the second coordinate of the symmetric bone.

8. A posture transformation device for a human bone model, characterized in that, including: An initial pose acquisition module, configured to acquire an initial pose of a human body bone model; A transformed coordinate determination module, configured to determine the second coordinates of each bone after pose transformation based on the target parameters of the pose transformation of the human body bone model and the first coordinates of each bone in the initial pose; wherein, the change amount of each bone is determined according to the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis, and the rotation angle of the corresponding rotation joint axis and the rotation angle of the previous rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; A target coordinate correction module, configured to correct the second coordinates based on the second coordinates of each bone and the second coordinates of the symmetric bone in the human body bone model to obtain the target coordinates of each bone.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1-7 above.

10. An electronic device, characterized in that, including: A processor; A memory for storing executable instructions of the processor; The processor is used to execute the method according to any one of claims 1-7 above.

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