Methods, devices, media, and electronic devices for changing the posture of a human skeleton model.

Abstract

This invention provides a method for ensuring the realism of a skeletal model during posture transformations based on a finite element model of the human body. [Solution] The method acquires a human skeletal model in its initial posture and determines the second coordinates of each skeleton after the posture change based on the target parameters of the posture change and the first coordinates of each skeleton. The amount of coordinate change for each skeleton is calculated based on the rotation angles of the corresponding rotational joint axis and the anterior rotational joint axis. The method further corrects the second coordinates of each skeleton based on the second coordinates of the symmetrical skeleton to obtain the target coordinates of each skeleton. This ensures realism while maintaining the relative positional relationship of each skeleton.

Description

[Technical Field]

[0001] The present application relates to the technical field of posture transformation of human body skeleton geometric models, and specifically relates to a posture transformation method, an apparatus, a medium, and an electronic device for a human body skeleton model. [Background Art]

[0002] The Human Finite Element Model (hereinafter referred to as "H-FEM") is a new evaluation tool in the automotive field, which can provide models for evaluation work under various conditions. In evaluation work, H-FEM is required to be transformed into different postures according to evaluation conditions, but the transformation technology for H-FEM finite element meshes is not yet mature. Methods for generating finite element meshes of different postures from the same model are limited. In many cases, a basic standing posture model is generated based on CT scan data of a recumbent posture, and then posture transformation is performed based on the basic standing posture finite element model. However, in this transformation process, local compression deformation of the mesh is significant, and it is unavoidable that the tissue deformation does not conform to actual anatomical relationships. The workload of manual adjustment is extremely large, and furthermore, there is no target posture for reference, so it cannot be determined whether the transformed finite element model shows physiologically reasonable structural changes. The quality of the transformed mesh is low, and it cannot be applied to evaluation work. Therefore, there is a strong demand for a method that can realize H-FEM transformation while guaranteeing the realism of the skeleton model. [Summary of the Invention]

[0003] To solve the above technical problems, the present disclosure provides a posture transformation method, an apparatus, a medium, and an electronic device for a human body skeleton model.

[0004] According to one aspect of the present invention, a method for transforming the posture of a human skeleton model is provided, comprising the steps of: obtaining a human skeleton model in an initial posture; determining a second coordinate of each skeleton after posture transformation based on a target parameter for posture transformation of the human skeleton model and a first coordinate of each skeleton in the initial posture, wherein the amount of coordinate transformation of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameter; and correcting the second coordinate of each skeleton in the human skeleton model based on the second coordinate of the symmetrical skeleton to obtain a target coordinate of each skeleton.

[0005] According to another aspect of the present invention, a human skeleton model posture transformation device is provided, comprising: an initial posture acquisition module used to acquire a human skeleton model in an initial posture; a transformation coordinate determination module used to determine the second coordinates of each skeleton after posture transformation based on target parameters for posture transformation of the human skeleton model and the first coordinates of each skeleton in the initial posture, wherein the amount of coordinate transformation of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters; and a target coordinate correction module used to correct the second coordinates of each skeleton in the human skeleton model based on the second coordinates of a symmetrical skeleton to obtain the target coordinates of each skeleton.

[0006] According to another aspect of the present invention, a computer-readable storage medium is provided which stores a computer program used to carry out a method according to the present invention.

[0007] According to another aspect of the present invention, an electronic device is provided which includes a processor and a memory for storing instructions that the processor can execute, wherein the processor performs a method according to the present invention.

[0008] The method, apparatus, medium, and electronic device for changing the posture of a human skeleton model provided by the present invention include the steps of: acquiring a human skeleton model in an initial posture; determining the second coordinates of each skeleton after posture change based on target parameters for posture change of the human skeleton model and the first coordinates of each skeleton in the initial posture, wherein the amount of coordinate change of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters; and correcting the second coordinates of each skeleton in the human skeleton model based on the second coordinates of the symmetrical skeleton to obtain the target coordinates of each skeleton. Furthermore, by determining the transformation of the skeleton based on the rotation angle of the rotational joint axis, the relative positional relationship between each skeleton is guaranteed, ensuring realism. [Brief explanation of the drawing]

[0009] To further clarify the object, features, and advantages of the present invention, embodiments of this application will be described in more detail below with reference to the drawings. The drawings are intended to aid in a further understanding of the embodiments of this application, constitute part of the specification, and are used to interpret this application together with the embodiments, and do not limit this application. In the drawings, the same reference numerals represent the same component or step unless otherwise specified. [Figure 1] This is a flowchart of a method for changing the posture of a human skeleton model according to one embodiment of the present invention. [Figure 2] This is a schematic diagram showing the structure of multiple postures of a human skeleton model according to one embodiment of the present invention. [Figure 3] This is a schematic diagram showing the structure of a posture-changing device for a human skeleton model according to one embodiment of the present invention. [Figure 4] This figure shows the structure of an electronic device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0010] The embodiments of the present invention will be described in detail below with reference to the drawings. It is clear that the embodiments described are only a part of the present invention and not all embodiments of the present invention. The present invention is not limited to the following embodiments.

[0011] Figure 1 is a flowchart of a method for changing the posture of a human skeleton model according to one embodiment of the present invention. As shown in Figure 1, the method for changing the posture of the human skeleton model includes the following steps 110 to 130.

[0012] Step 110: Obtain a human skeletal model in its initial posture.

[0013] In this invention, a three-dimensional digital model (including node information for each tissue and organ) is obtained by acquiring CT images of the human skeleton, performing tissue segmentation on the CT images, and then performing inverse reconstruction. Furthermore, a human skeleton model is constructed by classifying and initializing the point cloud coordinates formed by each tissue, and its initial posture (human skeleton model in the initial posture) is obtained. Typically, the initial posture is either a lying position or an upright position. Considering the relative motion of the human skeleton, this invention sets the rotational center, which serves as the reference point for the rotation of each vertebra, to the center of the geometric model of the adjacent intervertebral disc (rotational joint axis). The rotational joint axes of the upper limbs include the clavicle, shoulder, elbow, wrist, and phalanges (symmetrical), while the rotational joint axes of the lower limbs include the hip, knee, ankle, and plantar bones (symmetrical). Because the human skeletal model is symmetrical, the left and right limbs change synchronously.

[0014] Step 120: Based on the target parameters for the posture transformation of the human skeletal model and the first coordinate of each skeleton in the initial posture model, determine the second coordinate of each skeleton after the posture transformation.

[0015] Here, the amount of coordinate transformation for each skeleton is determined according to the rotation angle of the corresponding joint axis and the rotation angle of the preceding joint axis (anterior joint axis) of the corresponding joint axis. The rotation angle of the corresponding joint axis and the rotation angle of the preceding joint axis are determined according to the target parameter. The present invention determines the coordinate values ​​of each corresponding skeleton after the posture transformation by understanding the rotation angle of each joint axis before and after the posture transformation, and thereby determines the second coordinate of each skeleton after the posture transformation. In the present invention, the rotation of some joint axes affects the position of their subsequent joint axis (successor joint axis) and the position of the corresponding skeleton. For example, it is considered that the rotation of the elbow affects the position changes of the wrist and phalanges. In this way, the influence of the rotation angle of the joint axis corresponding to the skeleton and the rotation angle of the preceding joint axis on the position of the skeleton can be considered, thereby improving the accuracy of the skeletal coordinate calculation.

[0016] Step 130: Correct the second coordinate of each skeleton in the human skeleton model based on the second coordinate of its symmetrical skeleton to obtain the target coordinate of each skeleton.

[0017] After calculating the second coordinate of each skeleton in the human skeleton model, the second coordinate of each skeleton is corrected using the second coordinate of its symmetrical skeleton (a skeleton symmetrical with respect to spinal symmetry), thereby ensuring the symmetry of the human skeleton model and improving the stability and accuracy of posture changes.

[0018] The method for changing the posture of a human skeleton model provided by the present invention includes the steps of: obtaining a human skeleton model in its initial posture; determining the second coordinates of each skeleton after posture change based on the target parameters for posture change of the human skeleton model and the first coordinates of each skeleton in the initial posture, wherein the amount of coordinate change for each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters; and correcting the second coordinates of each skeleton in the human skeleton model based on the second coordinates of the symmetrical skeleton to obtain the target coordinates of each skeleton. The method determines the amount of coordinate change of the skeleton during posture change based on the rotation angles of the corresponding rotary joint axis and the anterior rotary joint axis of each skeleton, and calculates the transformed coordinate values ​​by combining them with the initial coordinate values ​​of the skeleton. Furthermore, the target coordinates of the skeleton are obtained by correcting each skeleton based on the second coordinates of its symmetrical skeleton. This enables the realization of posture changes in the human skeletal model, and by determining the transformation of the skeleton based on the rotation angle of the rotational joint axis, it guarantees the relative positional relationship between each skeleton, thereby ensuring realism.

[0019] In one embodiment, the specific implementation method of step 120 can be configured as follows: For a single skeleton, a coordinate transformation matrix for the single skeleton is calculated based on the rotation angle of the rotation joint axis corresponding to the single skeleton and the rotation angle of the anterior rotation joint axis, and a second coordinate for the single skeleton is calculated based on the coordinate transformation matrix for the single skeleton and the first coordinate of the single skeleton.

[0020] In this invention, a coordinate transformation matrix (which may include multiple) for a single skeleton is calculated based on the rotation angle of the rotational joint axis corresponding to the single skeleton and the rotation angle of the anterior rotational joint axis (which may be absent or multiple may exist). The second coordinate of the single skeleton is calculated by combining all the coordinate transformation matrices and the first coordinate of the single skeleton.

[0021] Furthermore, in one embodiment, the specific implementation method of step 120 may also be configured as follows. That is, based on the rotation angle of the anterior rotational joint axis among the rotational joint axes corresponding to a single skeleton, an anterior coordinate transformation matrix corresponding to said anterior rotational joint axis is calculated. Furthermore, based on the rotation angle of the rotational joint axis corresponding to a single skeleton, a current coordinate transformation matrix corresponding to said rotational joint axis is calculated.

[0022] In the present invention, based on the rotation angle of the anterior rotational joint axis among the rotational joint axes corresponding to a single skeleton, an anterior coordinate transformation matrix corresponding to said anterior rotational joint axis is calculated. Furthermore, based on the rotation angle of the rotational joint axis corresponding to a single skeleton, a current coordinate transformation matrix corresponding to said rotational joint axis is calculated. That is, the current coordinate transformation matrix of the rotational joint axis corresponding to a single skeleton is calculated. Based on these coordinate transformation matrices, the coordinate transformation amount of the single skeleton is determined. Next, description is given taking the seated posture of a human body in a vehicle as an example. Specifically, in the process of posture transformation, not only the posture of limbs is transformed, but transformation of the curvature of the spine also constitutes posture transformation. Different postures correspond to different spinal curvatures. Furthermore, since the spine is composed of 24 vertebral bodies and has a complex rotational relationship, it is necessary to first define the curvature of the spine before performing transformation. In the present invention, the seated postures of a human body in a vehicle include a driving posture, a normal riding posture, and a large-angle riding posture, and the spinal curvatures corresponding to these three types of seated postures are defined. After defining the spinal curvature (spinal morphology), the angles of the limbs are defined. The respective angles of the rotational joint axes corresponding to the above three types of seated postures are shown in Table 1 and Table 2.

[0023] Table 1 Angles of rotational joint axes corresponding to driving posture and normal riding posture JPEG0007923437000002.jpg42170

[0024] Table 2 Angles of rotational joint axes corresponding to large-angle riding posture JPEG0007923437000003.jpg33170

[0025] In one embodiment, the specific implementation method of step 120 described above can also be configured as follows: The second coordinate of the single skeleton is calculated based on the previous coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of the single skeleton.

[0026] In this invention, after calculating the forward coordinate transformation matrix and the current coordinate transformation matrix, the second coordinate of a single skeleton is calculated by combining the forward coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of a single skeleton. Specifically, the relative relationships between each rotational joint axis are sequentially arranged from bottom to top. Since the lowest lumbar vertebra is the vertebra closest to the pelvis, this lumbar vertebra can be treated approximately as the forward rotational joint axis of all other vertebrae. When the lumbar vertebra is rotated, all other vertebrae undergo relative rotation, maintaining a rigid rotational relationship between the vertebrae. After determining the angle of the lumbar vertebra, its backward rotational joint axis is rotated, and so on, until the entire spine is adjusted to the target angle. The same applies to the rotational joint axes of other parts (e.g., upper and lower limbs).

[0027] Since the skeleton does not deform during the process of changing posture, we define the skeleton as a rigid body and assume that no deformation occurs during coordinate transformation. Here, the coordinate transformation formula for the skeleton is as follows:

[0028] JPEG0007923437000004.jpg65170

[0029] In the rotational transformation process of the spine, the overall rotation angles of each vertebral body of the cervical, thoracic, and lumbar vertebrae are determined, and then the angles are evenly distributed to each vertebral section to smooth the transformation between vertebral bodies. For example, when transforming to a normal seated position for an occupant, each of the seven cervical vertebrae in the original model is rotated relatively by 2 degrees, totaling approximately 15 degrees; each of the twelve thoracic vertebrae is rotated relatively by 0.7 degrees, totaling approximately 10 degrees; and the relative angles of the five lumbar vertebrae are maintained as they are. These rotation angles are used as input parameters to be converted into a rotation axis matrix M, and this matrix is ​​substituted into an equation to perform a coordinate transformation. By performing an inspection after the coordinate transformation at each step, the morphology of the spine is brought closer to the provided physiological curve line, and the spine can be adjusted to different postures by utilizing this transformation method.

[0030] In one embodiment, the specific implementation method of step 130 described above can also be configured as follows: For a single skeleton, its symmetrical skeleton (a skeleton symmetrical with respect to the spine) is identified, and based on the second coordinates of the single skeleton and the symmetrical skeleton, the respective second coordinates are corrected to obtain the target coordinates of the single skeleton and the symmetrical skeleton.

[0031] In the process of changing posture, it is necessary to correct the symmetry of the skeleton in order to synchronously change the limbs on both sides. Specifically, in this invention, multiple groups of symmetry center points are selected in the curved surface model. For example, the anterior center point of each vertebra of the human spine, the tip of the coccyx process, the surface projection point of the pelvic geometric center, and the upper and lower vertices of the skull are used as the symmetry center points. Based on these multiple groups of symmetry center points, the midline plane of the human body from the skull to the sacrum, i.e., the middle sagittal plane, is obtained as the axis of symmetry in the human skeleton model. After determining the axis of symmetry, this invention obtains the symmetric skeleton for a single skeleton and combines the symmetric skeleton and the second coordinates of the single skeleton to simultaneously correct the second coordinates of the single skeleton and the symmetric skeleton (the skeleton obtained by mirroring with respect to the axis of symmetry) to obtain the target coordinates. To reduce the amount of computation, in this invention, the corrected rotational joint axis can be obtained by directly correcting both ends of the rotational joint axis, and the symmetry of each skeleton obtained by changing based on the corrected rotational joint axis can also be ensured.

[0032] In one embodiment, the specific implementation method of step 130 described above can also be configured as follows: a first symmetry coordinate that is symmetric with respect to the spine of the symmetric skeleton and a second symmetry coordinate that is symmetric with respect to the spine of the single skeleton are calculated, and the second coordinates of the single skeleton and the symmetric skeleton are corrected based on the first and second symmetry coordinates, respectively, to obtain the target coordinates of the single skeleton and the symmetric skeleton.

[0033] In this invention, based on the second coordinates of a single skeleton and its symmetrical skeleton, a first symmetrical coordinate obtained by symmetrically transforming the symmetrical skeleton with respect to the spine and a second symmetrical coordinate obtained by symmetrically transforming the single skeleton with respect to the spine are calculated, respectively. The second coordinates, first symmetrical coordinates, and second symmetrical coordinates of the single skeleton and its symmetrical skeleton are then combined to correct the coordinate values ​​of the single skeleton and the symmetrical skeleton, respectively, and obtain the target coordinates.

[0034] In one embodiment, the specific implementation method of step 130 described above can also be configured as follows: The target coordinates of the single skeleton are calculated based on the first symmetric coordinates and the second coordinates of the single skeleton, and the target coordinates of the symmetric skeleton are calculated based on the second symmetric coordinates and the second coordinates of the symmetric skeleton.

[0035] In this invention, the target coordinates of a single skeleton are calculated based on the first symmetry coordinates and the second coordinates of the single skeleton. For example, the average value between the first symmetry coordinates and the second coordinates of the single skeleton is calculated, and this average value is used as the target coordinates of the single skeleton. Similarly, the average value between the second symmetry coordinates and the second coordinates of the symmetrical skeleton can be calculated, and this average value can be used as the target coordinates of the symmetrical skeleton.

[0036] Specifically, let A and B be the coordinates of the two endpoints of a joint on one side of the axis of symmetry, and let A' and B' be the coordinates of the two endpoints of the corresponding joint on the other side. Then, 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 using the following formula.

[0037] A←(A+(-A') / 2,B←(B+(-B')) / 2,A'←(A'+(-A)) / 2,B'←(B'+(-B)) / 2.

[0038] Here, -A, -B, -A', and -B' are coordinate values ​​obtained by mirroring A, B, A', and B' with respect to the axis of symmetry, respectively. That is, the target coordinate of the endpoint on the other side is the average value of the symmetric coordinate obtained by mirroring the endpoint of the joint point on one side with respect to the axis of symmetry, and the coordinate of the corresponding endpoint on the other side.

[0039] Based on the posture transformation method described above, the present invention can obtain human skeletal models in various postures based on the initial posture. Figure 2 shows several human postures obtained by transforming from the initial posture.

[0040] Figure 3 is a schematic diagram showing the structure of a posture transformation device for a human skeleton model according to one embodiment of the present invention. As shown in Figure 3, the posture transformation device 20 for a human skeleton model includes an initial posture acquisition module 21 used to acquire a human skeleton model in its initial posture, a transformation coordinate determination module 22 used to determine the second coordinates of each skeleton after posture transformation based on the target parameters for posture transformation of the human skeleton model and the first coordinates of each skeleton in the initial posture, wherein the amount of coordinate transformation of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters, and a target coordinate correction module 23 used to correct the second coordinates of each skeleton in the human skeleton model based on the second coordinates of the symmetrical skeleton and to obtain the target coordinates of each skeleton.

[0041] The posture transformation device 20 for a human skeleton model according to the present invention includes an initial posture acquisition module 21 for acquiring a human skeleton model in its initial posture, a transformation coordinate determination module 22 for determining the second coordinate of each skeleton after posture transformation based on the target parameters for posture transformation of the human skeleton model and the first coordinate of each skeleton in the initial posture, wherein the amount of coordinate transformation for each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters, and a target coordinate correction module 23 for correcting the second coordinate of each skeleton in the human skeleton model based on the second coordinate of the symmetrical skeleton to obtain the target coordinate of each skeleton. That is, the amount of coordinate transformation of the skeleton during posture transformation is determined based on the rotation angles of the rotary joint axis and the anterior rotary joint axis corresponding to each skeleton, the transformed coordinate values ​​are calculated by combining them with the initial coordinate values ​​of the skeleton, and the target coordinate of the skeleton is obtained by further correcting each skeleton based on the second coordinate of its symmetrical skeleton. This enables the realization of posture changes in the human skeletal model, and by determining the transformation of the skeleton based on the rotation angle of the rotational joint axis, it guarantees the relative positional relationship between each skeleton, thereby ensuring realism.

[0042] In one embodiment, the transformation coordinate determination module 22 can be further configured as follows: For a single skeleton, a coordinate transformation matrix for the single skeleton is calculated based on the rotation angle of the rotation joint axis corresponding to the single skeleton and the rotation angle of the anterior rotation joint axis, and a second coordinate for the single skeleton is calculated based on the coordinate transformation matrix for the single skeleton and the first coordinate of the single skeleton.

[0043] In one embodiment, the transformation coordinate determination module 22 can be further configured as follows: Based on the rotation angle of the anterior rotation joint axis corresponding to the rotation joint axis corresponding to a single skeleton, the anterior coordinate transformation matrix corresponding to the anterior rotation joint axis is calculated. Also, based on the rotation angle of the rotation joint axis corresponding to a single skeleton, the current coordinate transformation matrix corresponding to the rotation joint axis is calculated.

[0044] In one embodiment, the transformation coordinate determination module 22 can also be configured as follows: that is, the second coordinate of the single skeleton is calculated based on the previous coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of the single skeleton.

[0045] In one embodiment, the target coordinate correction module 23 can be further configured as follows: For a single skeleton, its symmetrical skeleton (a skeleton symmetrical with respect to the spine) is identified, and the second coordinates of the single skeleton and the symmetrical skeleton are corrected based on these second coordinates to obtain target coordinates for both the single skeleton and the symmetrical skeleton.

[0046] In one embodiment, the target coordinate correction module 23 can be further configured as follows: It calculates a first symmetry coordinate that is symmetric with respect to the spine of a symmetric skeleton and a second symmetry coordinate that is symmetric with respect to the spine of a single skeleton, and then corrects the second coordinates of the single skeleton and the symmetric skeleton based on the first and second symmetry coordinates to obtain the target coordinates of the single skeleton and the symmetric skeleton.

[0047] In one embodiment, the target coordinate correction module 23 can be further configured as follows: The target coordinates of a single skeleton are calculated based on the first symmetric coordinates and the second coordinates of the single skeleton, and the target coordinates of a symmetric skeleton are calculated based on the second symmetric coordinates and the second coordinates of the symmetric skeleton.

[0048] Hereinafter, an electronic device according to an embodiment of the present invention will be described with reference to Figure 4. As shown in Figure 4, the electronic device 10 comprises one or more processors 11 and memory 12.

[0049] The processor 11 may be a central processing unit (CPU) or another form of processing unit having data processing capability and / or instruction execution capability, and can control other components in the electronic device 10 to perform a desired function.

[0050] The memory 12 includes 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 (cache). 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 in the computer-readable storage media, and the processor 11 can realize the methods of each embodiment of the present invention and / or other desired functions by executing the program instructions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage media.

[0051] In one embodiment, 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).

[0052] If the electronic device is a standalone device, the input device 13 may be a communication network connector.

[0053] Furthermore, the input device 13 may further include, for example, a keyboard, a mouse, and the like.

[0054] The output device 14 can output various types of information, including determined distance information and direction information, to an external source. The output device 14 may include, for example, a display, a speaker, a printer, a communication network, and remote output equipment connected thereto.

[0055] For simplicity, Figure 4 shows only some of the components of the electronic device 10 related to the present invention, omitting components such as buses and input / output interfaces. Furthermore, depending on the specific application, the electronic device 10 may include other appropriate components.

[0056] In addition to the above-described methods and electronic devices, embodiments of the present invention may further include a computer program product comprising computer program instructions. When the computer program instructions are executed by a processor, the processor is made to perform the steps of the methods relating to the various embodiments of the present invention described in the above-described "exemplary methods" section of this specification.

[0057] The aforementioned computer program product can contain program code for executing the actions of the embodiments of the present invention, written in any combination of one or more programming languages. These programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code may be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or fully on a remote computing device or server.

[0058] Embodiments of the present invention may further include a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is made to perform the steps of the methods according to the various embodiments of the present invention described in the “Exemplary Methods” section of this specification.

[0059] The computer-readable storage medium may employ 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, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any combination thereof. More specific examples (non-exclusive list) of readable storage media include electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0060] The basic principles of the present invention have been described above with reference to specific examples. However, the advantages, advantages, and effects mentioned in this application are merely illustrative and not limiting, and these advantages, advantages, and effects should not be considered essential to each example of the present invention. Furthermore, the above specific details are not intended to limit the present invention, but are merely illustrative and provided to facilitate understanding. Therefore, the present invention is not limited to the above specific details.

[0061] The block diagrams of devices, apparatus, electronic equipment, and systems referred to herein are illustrative only and do not require or imply that the connection methods, arrangements, or configurations shown in the block diagrams are mandatory. As will be recognized by those skilled in the art, these devices, apparatus, electronic equipment, and systems can be connected, arranged, and configured in any manner. Words such as “include,” “contain,” and “have” are non-limiting and mean “include, but not limited to,” and may be used interchangeably. As used herein, the words “or” and “and” mean “and / or,” and may be used interchangeably, unless the context explicitly indicates otherwise. As used herein, the word “for example” means “for example, not limited to these.”

[0062] Furthermore, in the apparatus, electronic equipment, and methods of the present invention, each component or each step is disassemblable and / or reassembled. These disassemblies and / or reassemblies are considered equivalents of the present invention.

[0063] The descriptions of the embodiments disclosed herein are provided to enable those skilled in the art to carry out the invention. Various modifications to these embodiments are readily conceivable to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the technical scope of the invention. Accordingly, the invention is not limited to the embodiments shown herein and should be interpreted most broadly insofar as is consistent with the principles and novel features disclosed herein.

[0064] The above description is provided for illustrative and explanatory purposes only. Furthermore, this description is not intended to limit the embodiments of the present invention to those disclosed herein. While several embodiments and examples of the present invention have been described above, it will be apparent to those skilled in the art that specific variations, modifications, changes, additions, and partial combinations thereof will readily come to mind.

Claims

1. The processor takes the step of acquiring a human skeletal model in its initial pose, A step in which the processor determines the second coordinates of each skeleton after the posture transformation, based on the target parameters for the posture transformation of the human skeleton model and the first coordinates of each skeleton in the initial posture, wherein the amount of coordinate transformation of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters, A method for changing the posture of a human skeleton model, characterized by comprising the step of a processor correcting the second coordinates of each skeleton in the human skeleton model based on the second coordinates of a symmetrical skeleton to obtain target coordinates for each skeleton.

2. The step in which the processor determines the second coordinates of each skeleton after the posture change, based on the target parameters for the posture change of the human skeleton model and the first coordinates of each skeleton in the initial posture, The processor calculates a coordinate transformation matrix for a single skeleton based on the rotation angles of the rotational joint axes corresponding to the single skeleton and the rotation angles of the anterior rotational joint axes, A method for changing the posture of a human skeleton model according to claim 1, characterized in that the processor calculates a second coordinate of the single skeleton based on the coordinate transformation matrix of the single skeleton and the first coordinate of the single skeleton.

3. The step of the processor calculating a coordinate transformation matrix for the single skeleton based on the rotation angles of the rotary joint axes and the rotation angles of the anterior rotary joint axes corresponding to the single skeleton is: The processor calculates a forward coordinate transformation matrix corresponding to the forward rotational joint axis based on the rotation angle of the forward rotational joint axis corresponding to the single skeleton, A method for changing the posture of a human skeleton model according to claim 2, characterized in that the processor calculates a current coordinate transformation matrix corresponding to a rotational joint axis based on the rotation angle of the rotational joint axis corresponding to the single skeleton.

4. The step in which the processor calculates the second coordinates of the single skeleton based on the coordinate transformation matrix of the single skeleton and the first coordinates of the single skeleton is: A method for changing the posture of a human skeleton model according to claim 3, characterized in that the processor includes the step of calculating the second coordinate of the single skeleton based on the forward coordinate transformation matrix, the current coordinate transformation matrix, and the first coordinate of the single skeleton.

5. The step of the processor correcting the second coordinates of each skeleton in the human skeleton model based on the second coordinates of the symmetrical skeleton to obtain the target coordinates of each skeleton is as follows: A processor identifies a symmetric skeleton for a single skeleton, wherein the single skeleton and the symmetric skeleton are symmetric with respect to the spine. A method for changing the posture of a human skeleton model according to claim 1, characterized in that the processor corrects the second coordinates of the single skeleton and the second coordinates of the symmetrical skeleton based on the second coordinates of the single skeleton and the second coordinates of the symmetrical skeleton, and obtains target coordinates of the single skeleton and the symmetrical skeleton.

6. The step in which the processor corrects the second coordinates of the single skeleton and the second coordinates of the symmetrical skeleton based on the second coordinates of the single skeleton and the second coordinates of the symmetrical skeleton to obtain target coordinates of the single skeleton and the symmetrical skeleton is: The processor calculates a first symmetry coordinate that is symmetric with respect to the spine of the symmetric skeleton and a second symmetry coordinate that is symmetric with respect to the spine of the single skeleton. A method for changing the posture of a human skeleton model according to claim 5, characterized in that the processor corrects the second coordinates of the single skeleton and the symmetric skeleton, respectively, based on the first symmetric coordinates and the second symmetric coordinates, to obtain target coordinates of the single skeleton and the symmetric skeleton.

7. The step of the processor correcting the second coordinates of the single skeleton and the symmetric skeleton, respectively, based on the first symmetric coordinate and the second symmetric coordinate, and obtaining the target coordinates of the single skeleton and the symmetric skeleton, The processor calculates the target coordinates of the single skeleton based on the first symmetric coordinates and the second coordinates of the single skeleton, A method for changing the posture of a human skeleton model according to claim 6, characterized in that the processor calculates target coordinates of the symmetric skeleton based on the second symmetric coordinates and the second coordinates of the symmetric skeleton.

8. An initial posture acquisition module used to obtain a human skeletal model in its initial posture, A transformation coordinate determination module used to determine the second coordinate of each skeleton after a posture transformation, based on the target parameters for posture transformation of the human skeleton model and the first coordinate of each skeleton in the initial posture, wherein the amount of coordinate transformation of each skeleton is determined according to the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis, and the rotation angle of the corresponding rotary joint axis and the rotation angle of the anterior rotary joint axis of the corresponding rotary joint axis are determined according to the target parameters, the transformation coordinate determination module, A posture transformation device for a human skeleton model, comprising: a target coordinate correction module used to correct the second coordinates of each skeleton in the human skeleton model based on the second coordinates of a symmetrical skeleton, and to obtain the target coordinates of each skeleton.

9. A computer-readable storage medium storing a computer program that causes a computer to perform each step of the method according to any one of claims 1 to 7.

10. Processor and The processor includes a memory that stores executable instructions, The processor is characterized by performing the method described in any one of claims 1 to 7 above, in an electronic device.

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