Method, device, medium and equipment for changing posture of human skeleton model

Abstract

The present application provides a posture transformation method, device, medium and equipment for a human skeleton model. Based on the target parameters of the posture transformation of the human skeleton model and the first coordinates of each bone in the initial posture, the second coordinates of each bone after the posture transformation are determined; the second coordinates of each bone in the human skeleton model are corrected based on the second coordinates of the symmetrical bones 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 angle of the rotation joint axis corresponding to each bone and the preceding rotation joint axis, the transformed coordinate value is calculated in combination with the initial coordinate value of the bone, and the second coordinates of each bone and its symmetrical bone are mutually corrected to obtain the target coordinates of the bone, thereby realizing the posture change of the human skeleton model, and the transformation of the bone 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.

Description

Technical Field

[0001] The present application relates to the technical field of posture transformation of human skeleton geometric models, and in particular to a posture transformation method, device, medium and equipment for human skeleton models. Background Art

[0002] The High Bandwidth Memory (HBM) human finite element model is an emerging testing tool in the automotive field, enabling models to be used for operational evaluation. However, HBMs are often required to transform into different poses depending on the test conditions. However, the transformation of HBM finite element meshes is still immature, and limited methods are available for generating finite element meshes for the same HBM model in different poses. Most methods generate a base standing model based on CT scan data (lying down). This deformation process inevitably results in severe localized mesh compression and deformation, resulting in tissue deformation that does not conform to true anatomical relationships. Manual adjustments are extremely laborious, and without a target pose as a reference, the transformed finite element model cannot guarantee the proper physiological structural changes. Consequently, the transformed mesh quality is poor, making it unsuitable for evaluation. Therefore, a method for achieving HBM transformation while ensuring the authenticity of the skeletal model is urgently needed. Summary of the Invention

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

[0004] According to one aspect of the present application, a posture transformation method for a human skeleton model is provided, comprising: obtaining an initial posture of a human skeleton model; determining the second coordinates of each bone after posture transformation based on target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; correcting the second coordinates of each bone in the human skeleton model based on the second coordinates of the symmetrical bones to obtain the target coordinates of each bone.

[0005] In one embodiment, the target parameters of the posture transformation of the human skeleton model and the first coordinates of each bone in the initial posture are used to determine the second coordinates of each bone after the posture transformation, including: for a single bone, based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the preceding rotation joint axis, calculating the coordinate transformation matrix of the single bone; based on the coordinate transformation matrix of the single bone and the first coordinate of the single bone, calculating the second coordinate of the single bone.

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

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

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

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

[0010] In one embodiment, based on the first symmetry coordinate and the second symmetry coordinate, the second coordinates of the single bone and the symmetrical bone are respectively corrected to obtain the target coordinates of the single bone and the symmetrical bone, including: calculating the target coordinates of the single bone based on the first symmetry coordinate and the second coordinates of the single bone; calculating the target coordinates of the symmetrical bone based on the second symmetry coordinate and the second coordinates of the symmetrical bone.

[0011] According to another aspect of the present application, a posture transformation device for a human skeleton model is provided, comprising: an initial posture acquisition module for acquiring the initial posture of the human skeleton model; a transformation coordinate determination module for determining the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; a target coordinate correction module for correcting the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor for executing any of the above methods.

[0014] The present application provides a posture transformation method, device, medium and equipment for a human skeleton model, which obtains the initial posture of the human skeleton model; determines the second coordinates of each bone after the posture transformation based on the target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; corrects the second coordinates based on the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone; that is, determines the coordinate transformation amount of the bone during the posture transformation according to the rotation angle of the rotation joint axis corresponding to each bone and the preceding rotation joint axis, calculates the transformed coordinate value in combination with the initial coordinate value of the bone, and corrects each other based on the second coordinates of the second coordinates of each bone and its symmetrical bone to obtain the target coordinates of the bone, thereby realizing the posture change of the human skeleton model, and determines 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] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

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

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

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

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

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

[0021] Figure 1 FIG. 1 is a flow chart of a method for changing the posture of a human skeleton model provided by an exemplary embodiment of the present application. Figure 1 As shown, the posture transformation method of the human skeleton model includes the following steps:

[0022] Step 110: Obtain the initial posture of the human skeleton model.

[0023] This application obtains a CT image of the human skeleton, performs tissue segmentation on the CT image, and performs reverse reconstruction to obtain a three-dimensional digital model (including node information of each tissue and organ), and classifies and initializes the point cloud coordinates formed by each tissue to obtain a human skeleton model and its initial posture (usually lying or standing). Taking into account the relative movement of the human skeleton, this application uses the rotation center referenced when rotating each cone as the geometric model center (rotational joint axis) of the adjacent intervertebral disc. The rotational joint axis of the upper limb includes the clavicle, shoulder, elbow, wrist, and phalanges (symmetrical on both sides), and the rotational joint axis of the lower limb includes the hip, knee, ankle, and sole bone (symmetrical on both sides). Since the model is symmetrical, the limbs on both sides of the model should change synchronously.

[0024] Step 120: Determine the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human skeleton model and the first coordinates of each bone in the initial posture.

[0025] 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters. The present application determines the coordinate value of each corresponding bone after the posture transformation by knowing the rotation angle of each rotation joint axis between the postures before and after the transformation, thereby determining the second coordinate of each bone after the posture transformation. The present application takes into account that the rotation of some rotation joint axes will affect the position of their subsequent rotation joint axes and the position of the corresponding bones. For example, the rotation of the elbow will affect the position change of the wrist and phalanges. Therefore, the rotation angle of the rotation joint axis corresponding to the bone and the rotation angle of the preceding rotation joint axis on the position of the bone are considered at the same time to improve the accuracy of the bone coordinate calculation.

[0026] Step 130: Correct the second coordinates based on the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone.

[0027] After calculating the second coordinates of each bone in the human skeleton model, the second coordinates of each bone and its symmetrical bones (symmetrical bones symmetrical about the spine) are used to correct the second coordinates of the bones to ensure the symmetry of the human skeleton model, thereby improving the stability and accuracy of posture transformation.

[0028] The present application provides a posture transformation method for a human skeleton model, which obtains the initial posture of the human skeleton model; determines the second coordinates of each bone after the posture transformation based on the target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; corrects the second coordinates based on the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone; that is, determines the coordinate transformation amount of the bone during the posture transformation according to the rotation angle of the rotation joint axis corresponding to each bone and the preceding rotation joint axis, calculates the transformed coordinate value in combination with the initial coordinate value of the bone, and corrects each other based on the second coordinates of each bone and its symmetrical bone to obtain the target coordinates of the bone, thereby realizing the posture change of the human skeleton model, and determines 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.

[0029] In one embodiment, the specific implementation method of the above step 120 can be: for a single bone, based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the preceding rotation joint axis, calculate the coordinate transformation matrix of the single bone; based on the coordinate transformation matrix of the single bone and the first coordinate of the single bone, calculate the second coordinate of the single bone.

[0030] This application calculates the coordinate transformation matrix (which may include one or more) of a single bone based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the preceding rotation joint axis (which may be none or include one or more), and combines all the coordinate transformation matrices and the first coordinate of the single bone to calculate the second coordinate of the single bone.

[0031] In one embodiment, the specific implementation method of the above-mentioned step 120 can be: based on the rotation angle of the preceding rotation joint axis of the rotation joint axis corresponding to the single bone, calculate the preceding coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the preceding 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.

[0032] This application calculates the preceding coordinate transformation matrix of the rotational joint axis corresponding to the single bone relative to the preceding rotational joint axis of the rotational joint axis corresponding to the single bone, based on the rotation angle of the preceding rotational joint axis of the rotational joint axis corresponding to the single bone. At the same time, based on the rotation angle of the rotational joint axis corresponding to the single bone, the application calculates the current coordinate transformation matrix of the single bone relative to the rotational joint axis corresponding to the single bone. That is, the current coordinate transformation matrix of the rotational joint axis corresponding to the single bone and the preceding coordinate transformation matrix of the rotational joint axis corresponding to the single bone relative to its preceding rotational joint axis are calculated to determine the coordinate transformation amount of the single bone. The following is an example of the sitting posture of the human body in a vehicle. Specifically, in the process of posture transformation, not only the posture of the limbs needs to be transformed, but the curvature transformation of the spine is also a part of the posture transformation. Different postures correspond to different spinal curvatures, and the spine is composed of 24 cones with complex rotation relationships. Therefore, it is necessary to define and transform the spinal curvature first. This patent defines the human body's sitting posture in a vehicle, including driving posture, ordinary riding posture, and high-angle riding posture. It also defines the spinal curvature corresponding to the three sitting postures. After defining the spinal curvature (spinal morphology), the angles of the limbs are defined. The angle information of the rotation joint axes corresponding to the three sitting postures is shown in Tables 1 and 2:

[0033] Table 1 Angle information of the rotary joint axis corresponding to the driving posture and the normal riding posture

[0034]

[0035] Table 2 Angle information of the rotation joint axis corresponding to the large-angle riding posture

[0036]

[0037] In one embodiment, the specific implementation of the above step 120 may be: 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.

[0038] After calculating the previous coordinate transformation matrix and the current coordinate transformation matrix, the present application combines the previous coordinate transformation matrix, the current coordinate transformation matrix and the first coordinate of a single bone to calculate the second coordinate of a single bone. Specifically, the present application arranges the relative relationship between each rotation joint axis from bottom to top. Since the lowermost lumbar vertebra is the cone closest to the pelvis, it can be approximately described as the previous rotation joint axis of all the remaining cones. After rotating the lumbar vertebra, the remaining cones will cause relative rotation to ensure the rigid rotation between the vertebrae. After determining the angle of the lumbar vertebra, its subsequent rotation joint axis is rotated, and so on, until the entire spine is adjusted to the target angle. The rotation joint axes in other positions (such as upper and lower limbs, etc.) are similar.

[0039] Since bones do not deform during posture transformation, they are defined as rigid and do not deform during coordinate transformation. The coordinate transformation of bones is as follows:

[0040] ;

[0041] in V c is the vertex coordinate before the current bone transformation, is the vertex coordinate after the current bone transformation, They are the rotation joint axes corresponding to the current bones c The rotation angle corresponds to the coordinate transformation matrix and the rotation joint axis c Rotate the joint axis relative to its predecessor p 1 (i.e., rotary joint axis c The coordinate transformation matrix of the first rotation joint axis in the previous order, the rotation joint axis p The rotation angle of 1 corresponds to the coordinate transformation matrix and the rotation joint axis p 1 Rotate the joint axis relative to its predecessor p 2 coordinate transformation matrix, rotation joint axis p n The rotation angle corresponds to the coordinate transformation matrix and the rotation joint axis p n Rotate the joint axis relative to its predecessor w The coordinate transformation matrix.

[0042] During the rotational transformation of the spine, the overall rotation angles of the cervical, thoracic, and lumbar cones are determined. To ensure smooth transformations between vertebrae, these angles are evenly distributed across the cone segments. For example, when transforming to a standard passenger sitting position, the original model's seven cervical cones are rotated relative to each other by 2 degrees, for a total of approximately 15 degrees; the 12 thoracic cones are rotated relative to each other by 0.7 degrees, for a total of approximately 10 degrees; and the five lumbar cones remain unchanged. These rotation angles serve as input parameters and are transformed into a rotation axis matrix M. This is then incorporated into the formula for coordinate transformations, and checks are performed after each coordinate transformation to ensure that the spinal morphology adheres to the provided physiological curvature lines. This transformation method allows the spine to be adjusted to different postures.

[0043] In one embodiment, the specific implementation method of the above-mentioned step 130 can be: for a single bone, obtain the symmetrical bone of the single bone; wherein the single bone and the symmetrical bone are symmetrical about the spine; based on the second coordinates of the single bone and the second coordinates of the symmetrical bone, correct the second coordinates of the single bone and the symmetrical bone to obtain the target coordinates of the single bone and the symmetrical bone.

[0044] During the posture transformation process, in order to ensure the synchronous transformation of the limbs on both sides, the skeleton needs to be symmetrically corrected. Specifically, the present application selects multiple symmetry center point clouds in the surface image, such as the anterior surface center point of each cone of the human spine, the posterior coccyx point, the surface projection point of the pelvic geometric center point, and the upper and lower vertices of the skull as symmetry center point clouds, and obtains the human body's mid-axis plane from the skull to the sacrum in the human skeleton model based on the multiple symmetry center point clouds, that is, the mid-sagittal plane as the symmetry axis. After determining the symmetry axis, the present application obtains the symmetrical bones of a single bone, and combines the second coordinates of the symmetrical bones and the single bone to simultaneously correct the second coordinates of the single bone and the symmetrical bones (the bones obtained by mirroring about the symmetry axis) to obtain the target coordinates. In order to reduce the amount of calculation, the present application can directly correct the two endpoints of the rotation joint axis separately to obtain the corrected rotation joint axis, and the symmetry of each bone obtained based on the transformation of the corrected rotation joint axis can also be guaranteed.

[0045] In one embodiment, the specific implementation method of the above-mentioned step 130 can be: calculating the first symmetry coordinates of the symmetrical bones symmetrical about the spine and the second symmetry coordinates of the single bone symmetrical about the spine; based on the first symmetry coordinates and the second symmetry coordinates, respectively correcting the second coordinates of the single bone and the symmetrical bones to obtain the target coordinates of the single bone and the symmetrical bones.

[0046] This application calculates the first symmetry coordinate of the symmetrical bone about the spine and the second symmetry coordinate of the single bone about the spine based on the second coordinates of the single bone and its symmetrical bone, and combines the second coordinates, first symmetry coordinates and second symmetry coordinates of the single bone and its symmetrical bone to correct the coordinate values ​​of the single bone and the symmetrical bone respectively to obtain the target coordinates.

[0047] In one embodiment, the specific implementation method of the above step 130 can be: based on the first symmetry coordinate and the second coordinate of the single bone, the target coordinate of the single bone is calculated; based on the second symmetry coordinate and the second coordinate of the symmetric bone, the target coordinate of the symmetric bone is calculated.

[0048] The present application calculates the target coordinates of a single bone based on the first symmetry coordinate and the second coordinate of the single bone, for example, the average value of the first symmetry coordinate and the second coordinate of the single bone is calculated and the average value is used as the target coordinate of the single bone; similarly, the average value of the second symmetry coordinate and the second coordinate of the symmetrical bone can be calculated and the average value can be used as the target coordinate of the symmetrical bone.

[0049] Specifically, assuming that the coordinates of the two endpoints of the joint on one side of the symmetry axis are A and B, and the coordinates of the two endpoints of the corresponding joint on the other side are A′ and B′, the target coordinates of the two endpoints of the joint on one side and the target coordinates of the two endpoints of the corresponding joint are calculated by the following formula.

[0050] A←(A+(-A′) / 2, B←(B+(-B′)) / 2, A′←(A′+(-A)) / 2, B′←(B′+(-B)) / 2.

[0051] Among them, -A, -B, -A′ and -B′ are the coordinate values ​​of A, B, A′ and B′ respectively obtained by mirroring about the symmetry axis. That is, the average value of the symmetric coordinates obtained by mirroring the endpoint of the joint point on one side about the symmetry axis and the coordinates of the corresponding endpoint on the other side is used as the target coordinate of the endpoint on the other side.

[0052] Based on the above posture transformation method, this application can obtain human skeleton models in various postures based on the initial posture. Figure 2 Several posture structures obtained by transforming the initial posture are shown.

[0053] Figure 3 Schematic diagram of the structure of the posture transformation device of the human skeleton model provided by an exemplary embodiment of the present application. Figure 3 As shown, the posture transformation device 20 of the human skeleton model includes: an initial posture acquisition module 21, which is used to obtain the initial posture of the human skeleton model; a transformation coordinate determination module 22, which is used to determine the second coordinates of each bone after posture transformation based on the target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; a target coordinate correction module 23, which is used to correct the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone.

[0054] The present application provides a posture transformation device for a human skeleton model, which obtains the initial posture of the human skeleton model through an initial posture acquisition module 21; a transformation coordinate determination module 22 determines the second coordinates of each bone after the posture transformation based on the target parameters of the posture transformation of the human skeleton 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; a target coordinate correction module 23 corrects the second coordinates of each bone in the human skeleton model based on the second coordinates of the symmetrical bones 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 angle of the rotation joint axis corresponding to each bone and the preceding rotation joint axis, and the transformed coordinate value is calculated in combination with the initial coordinate value of the bone, and the second coordinates of each bone and its symmetrical bone are mutually corrected to obtain the target coordinates of the bone, thereby realizing the posture change of the human skeleton model, and determining the transformation of the bone based on the rotation angle of the rotation joint axis to ensure the relative position relationship between the bones, thereby ensuring its authenticity.

[0055] In one embodiment, the above-mentioned transformation coordinate determination module 22 can be further configured as: for a single bone, based on the rotation angle of the rotation joint axis corresponding to the single bone and the rotation angle of the preceding rotation joint axis, the coordinate transformation matrix of the single bone is calculated; based on the coordinate transformation matrix of the single bone and the first coordinate of the single bone, the second coordinate of the single bone is calculated.

[0056] In one embodiment, the above-mentioned transformation coordinate determination module 22 can be further configured as: based on the rotation angle of the preceding rotation joint axis of the rotation joint axis corresponding to the single bone, calculating the preceding coordinate transformation matrix of the rotation joint axis corresponding to the single bone relative to the preceding 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, calculating the current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone.

[0057] In one embodiment, the transformation coordinate determination module 22 may be further configured to calculate 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.

[0058] In one embodiment, the above-mentioned target coordinate correction module 23 can be further configured as: for a single bone, obtaining the symmetrical bone of the single bone; wherein the single bone and the symmetrical bone are symmetrical about the spine; based on the second coordinate of the single bone and the second coordinate of the symmetrical bone, correcting the second coordinates of the single bone and the symmetrical bone to obtain the target coordinates of the single bone and the symmetrical bone.

[0059] In one embodiment, the above-mentioned target coordinate correction module 23 can be further configured to: calculate the first symmetry coordinate of the symmetrical bones symmetrical about the spine and the second symmetry coordinate of the single bone symmetrical about the spine; based on the first symmetry coordinate and the second symmetry coordinate, respectively correct the second coordinates of the single bone and the symmetrical bones to obtain the target coordinates of the single bone and the symmetrical bones.

[0060] In one embodiment, the target coordinate correction module 23 can be further configured to: calculate the target coordinates of a single bone based on the first symmetry coordinate and the second coordinate of the single bone; calculate the target coordinates of the symmetric bone based on the second symmetry coordinate and the second coordinate of the symmetric bone.

[0061] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be either or both of the first device and the second device, or a standalone device independent of them, and the standalone device may communicate with the first device and the second device to receive collected input signals from them.

[0062] Figure 4 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[0063] like Figure 4 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0064] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0065] The memory 12 may include one or more computer program products, which 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. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute 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, and noise components may also be stored in the computer-readable storage medium.

[0066] In one example, the electronic device 10 may further include an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0067] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0068] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0069] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0070] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 10 may further include any other appropriate components according to specific application scenarios.

[0071] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0072] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0073] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0074] The computer-readable storage medium may be any combination of one or more readable media. The readable medium 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, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media 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 thereof.

[0075] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0076] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, 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 therewith.

[0077] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0078] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may 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 be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0079] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A posture transformation method for a human skeleton model, characterized in that: include: Obtain the initial posture of the human skeleton model; Based on the target parameters of the posture transformation of the human skeleton model and the first coordinates of each bone in the initial posture, determining the second coordinates of each bone after the posture 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 preceding 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 preceding rotation joint axis of the corresponding rotation joint axis are determined according to the target parameters; The second coordinates are corrected based on the second coordinates of each bone in the human skeleton model and the second coordinates of the symmetrical bones to obtain the target coordinates of each bone.

2. The method for changing the posture of a human skeleton model according to claim 1, wherein: Determining the second coordinates of each skeleton after posture transformation based on the target parameters of the posture transformation of the human skeleton model and the first coordinates of each skeleton in the initial posture 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 angle of the previous rotation joint axis; Based on the coordinate transformation matrix of the single bone and the first coordinate of the single bone, the second coordinate of the single bone is calculated.

3. The method for changing the posture of a human skeleton model according to claim 2, wherein: 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: Calculate, based on the rotation angle of the preceding rotational joint axis of the rotational joint axis corresponding to the single bone, a preceding coordinate transformation matrix of the rotational joint axis corresponding to the single bone relative to the preceding rotational joint axis of the rotational joint axis corresponding to the single bone; Based on the rotation angle of the rotation joint axis corresponding to the single bone, a current coordinate transformation matrix of the single bone relative to the rotation joint axis corresponding to the single bone is calculated.

4. The method for changing the posture of a human skeleton model according to claim 3, wherein: Calculating the second coordinate of the single bone based on the coordinate transformation matrix of the single bone and the first coordinate of the single bone includes: Based on the previous coordinate transformation matrix, the current coordinate transformation matrix and the first coordinate of the single bone, the second coordinate of the single bone is calculated.

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

6. The method for changing the posture of a human skeleton model according to claim 5, wherein: The step of correcting the second coordinates of the single bone and the symmetrical bone based on the second coordinates of the single bone and the second coordinates of the symmetrical bone to obtain target coordinates of the single bone and the symmetrical bone comprises: Calculate the first symmetric coordinates of the symmetrical bones symmetrical about the spine and the second symmetric coordinates of the single bone symmetrical about the spine; Based on the first symmetric coordinate and the second symmetric coordinate, the second coordinates of the single bone and the symmetric bone are corrected 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, wherein: The step of respectively correcting the second coordinates of the single bone and the symmetrical bone based on the first symmetric coordinate and the second symmetric coordinate to obtain target coordinates of the single bone and the symmetrical bone comprises: Calculate the target coordinates of the single bone based on the first symmetric coordinates and the second coordinates of the single bone; Based on the second symmetric coordinate and the second coordinate of the symmetric bone, the target coordinate of the symmetric bone is calculated.

8. A posture changing device for a human skeleton model, characterized in that: include: An initial posture acquisition module is used to obtain the initial posture of the human skeleton model; a transformation coordinate determination module, configured to determine, based on the target parameters of the posture transformation of the human skeleton model and the first coordinates of each bone in the initial posture, the second coordinates of each bone after posture transformation; wherein the amount of change of each bone is determined according to the rotation angle of the corresponding rotational joint axis and the rotation angle of the preceding rotational joint axis of the corresponding rotational joint axis, and the rotation angle of the corresponding rotational joint axis and the rotation angle of the preceding rotational joint axis of the corresponding rotational joint axis are determined according to the target parameters; The target coordinate correction module is used to correct the second coordinates of each bone in the human skeleton model based on the second coordinates of the second coordinates and the second coordinates of the symmetrical bones 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 to 7.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1 to 7.

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