Finger interaction trajectory acquisition method and system, and storage medium

A finger interaction trajectory acquisition system comprising:

• a processor;
• and
• a memory having computer instructions stored therein, wherein the processor is configured to execute the computer instructions stored in the memory, and the system, when the computer instructions are executed by the processor, implements a finger interaction trajectory acquisition method,
• the method comprising:
• acquiring, during a predetermined finger interaction between an individual hand and a target object, motion posture information continuously collected by a three-dimensional motion capture system worn by the individual hand;
• identifying the motion posture information to obtain three-dimensional position coordinates of a to-be-measured joint or a to-be-measured bone of the individual hand in a same coordinate system as the target object, the three-dimensional position coordinates of the to-be-measured joint or the to-be-measured bone having a timestamp, and the to-be-measured joint or the to-be-measured bone comprising at least a distal phalanx of each finger;
• sequentially determining, by using the three-dimensional position coordinates of the distal phalanx of each finger as a finger position, whether the finger position in a predetermined coordinate system is located on the target object at a time point corresponding to each timestamp, and determining, in response to determining that the position coordinates of the distal phalanx of the finger is located on the target object, that a finger interaction occurs at the time point, and storing the position coordinates of the distal phalanx of the finger as an interaction position point and storing the corresponding timestamp;
• and
• performing drawing by using time-continuous three-dimensional position coordinates of distal phalanges of all fingers of the individual hand that are sorted according to timestamps to obtain a finger trajectory, and performing drawing by using all interaction position points that are sorted according to the timestamps to obtain a finger interaction trajectory,
• wherein said sequentially determining whether the finger position in the predetermined coordinate system is located on the target object at each time stamp comprises:
• calculating a distance between the finger position and the target object based on the three-dimensional position coordinates of the distal phalanx of the finger and a three-dimensional model of the target object in the predetermined coordinate system;
• and
• determining, in response to the distance between the finger position and the target object being smaller than or equal to a predetermined tolerance, that the position coordinates of the distal phalanx of the finger is located on the target object:
• wherein the method further comprises, prior to said acquiring the motion posture information continuously collected by the three-dimensional motion capture system:
• acquiring a predetermined number of calibration points at predetermined positions on the target object for the finger interaction;
• collecting, in response to a to-be-measured finger being in contact with each of the calibration points, position coordinates of a distal phalanx of the to-be-measured finger;
• determining the position coordinates of the distal phalanx as vertex coordinates of the target object, to calibrate the vertex coordinates of the target object for the finger interaction;
• acquiring a parameter of the target object for the finger interaction;
• and
• constructing, based on the parameter of the target object, the three-dimensional model of the target object in the predetermined coordinate system, the parameter of the target object comprising a plurality of calibrated vertex coordinates of the target object.

A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a finger interaction trajectory acquisition method, the method comprising:

• acquiring, during a predetermined finger interaction between an individual hand and a target object, motion posture information continuously collected by a three-dimensional motion capture system worn by the individual hand;
• identifying the motion posture information to obtain three-dimensional position coordinates of a to-be-measured joint or a to-be-measured bone of the individual hand in a same coordinate system as the target object, the three-dimensional position coordinates of the to-be-measured joint or the to-be-measured bone having a timestamp, and the to-be-measured joint or the to-be-measured bone comprising at least a distal phalanx of each finger;
• sequentially determining, by using the three-dimensional position coordinates of the distal phalanx of each finger as a finger position, whether the finger position in a predetermined coordinate system is located on the target object at a time point corresponding to each timestamp, and determining, in response to determining that the position coordinates of the distal phalanx of the finger is located on the target object, that a finger interaction occurs at the time point, and storing the position coordinates of the distal phalanx of the finger as an interaction position point and storing the corresponding timestamp;
• and
• performing drawing by using time-continuous three-dimensional position coordinates of distal phalanges of all fingers of the individual hand that are sorted according to timestamps to obtain a finger trajectory, and performing drawing by using all interaction position points that are sorted according to the timestamps to obtain a finger interaction trajectory,
• wherein said sequentially determining whether the finger position in the predetermined coordinate system is located on the target object at each time stamp comprises:
• calculating a distance between the finger position and the target object based on the three-dimensional position coordinates of the distal phalanx of the finger and a three-dimensional model of the target object in the predetermined coordinate system;
• and
• determining, in response to the distance between the finger position and the target object being smaller than or equal to a predetermined tolerance, that the position coordinates of the distal phalanx of the finger is located on the target object;
• wherein the method further comprises, prior to said acquiring the motion posture information continuously collected by the three-dimensional motion capture system:
• acquiring a predetermined number of calibration points at predetermined positions on the target object for the finger interaction;
• collecting, in response to a to-be-measured finger being in contact with each of the calibration points, position coordinates of a distal phalanx of the to-be-measured finger;
• determining the position coordinates of the distal phalanx as vertex coordinates of the target object, to calibrate the vertex coordinates of the target object for the finger interaction;
• acquiring a parameter of the target object for the finger interaction;
• and
• constructing, based on the parameter of the target object, the three-dimensional model of the target object in the predetermined coordinate system, the parameter of the target object comprising a plurality of calibrated vertex coordinates of the target object.