Rigid body pose determination method, device and computer equipment for dual photosphere interactive pen

Abstract

The present invention relates to a method, a device, a computer device and a storage medium for determining a rigid body pose of a dual-photosphere interactive pen. The transformation relationship of the rotation posture; obtain the first current rotation posture of the inertial sensor of the dual-photosphere interactive pen, and obtain the current second rotation posture of the rigid body of the dual-photosphere interactive pen according to the conversion relationship and the first current rotation posture; According to the initial coordinates and current coordinates of the first infrared reflective ball, and / or the initial coordinates and current coordinates of the second infrared reflective ball, combined with the current second rotation pose, the translation pose of the rigid body of the dual-photosphere interactive pen is obtained . The above method can accurately obtain the rigid body pose of the interactive pen of the dual photosphere inertial sensor based on the rotation data of the dual photosphere interactive pen relative to the IMU coordinate system and the rotation data relative to the rigid body coordinate system.

Description

technical field [0001] The present invention relates to the technical field of gesture processing of an interactive pen, in particular to a method, a device, a computer device and a storage medium for determining a rigid body pose of a dual photosphere interactive pen. Background technique [0002] The interactive pen with dual photosphere inertial sensors is a holographic 3D desktop interactive pen with an infrared reflective ball embedded in the tip and tail of the pen, and a chip with an inertial sensor as the core chip installed inside the pen body. In the optical motion capture system, in order to solve the pose of the rigid body, it is usually required that the rigid body has at least 3 marker points, otherwise SVD decomposition to solve the rotation pose will have singularity, that is, the obtained result will not be unique and uncertain . There are only two marking points in the interactive pen. At this time, an inertial sensor can be used to supplement another mark...

AI Technical Summary

Problems solved by technology

In the optical motion capture system, in order to solve the pose of the rigid body, it is usually required that the rigid body has at least 3 marker points, otherwise the SVD decomposition to solve the rotation pose will have singularity, that is, the obtained result will not be unique and uncertain

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