CN112764546A - Virtual character displacement control method and device and terminal equipment - Google Patents
Virtual character displacement control method and device and terminal equipment Download PDFInfo
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Abstract
The invention is suitable for the technical field of data processing of virtual reality, and provides a method, a device and a terminal device for controlling the displacement of a virtual character, wherein the method comprises the following steps: acquiring walking image data of a real person by an image acquisition device, wherein the walking image data comprises first-step line image data based on a left foot and second-step line image data based on a right foot; calculating depth information of walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot; when the depth information of the current frame is obtained, calculating and obtaining a first depth difference based on a left foot and a second depth difference based on a right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames; and controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference. The virtual character displacement control method provided by the invention is not influenced by the precision of the sensor.
Description
Technical Field
The invention relates to the technical field of data processing of virtual reality, in particular to a method and a device for controlling the displacement of a virtual character and terminal equipment.
Background
The virtual reality technology is a computer simulation system capable of creating and experiencing a virtual world, which utilizes a computer to generate a simulation environment, is a system simulation of multi-source information fusion interactive three-dimensional dynamic views and entity behaviors, and enables a user to be immersed in the environment.
Generally speaking, the space presented to the user through the virtual reality technology does not mean that the user can walk freely, but the movement of the virtual character is driven by capturing the action of the real character on the motion platform, and the real character does not have actual physical movement, so that the user has low immersion and is easy to dizzy.
However, at present, there are also virtual reality devices for users to walk at will, such as a universal motion platform, so that a real person and a virtual person have the same motion track, and at present, the motion of the virtual person is controlled by capturing the motion of the real person on the motion platform, and the motion of the leg is mainly detected by a sensor bound to the leg, so as to control the motion of the person, but the accuracy of the sensor greatly affects the control effect, and the sensor data can be used only by a large amount of calculation and verification.
Disclosure of Invention
The invention mainly aims to provide a method, a device and a terminal device for controlling the displacement of a virtual character, and aims to solve the problems that in the prior art, the motion of a leg is detected through a sensor bound on the leg, the motion mode of the character is controlled by the accuracy of the sensor, and the character can be used only when being checked.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a method for controlling a virtual character displacement, including:
acquiring walking image data of a real person by an image acquisition device, wherein the walking image data comprises first step line image data based on a left foot and second step line image data based on a right foot, and the first step line image data and the second step line image data are sorted by taking a frame as a unit;
calculating depth information of the walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot;
when the depth information of the current frame is obtained, calculating and obtaining a first depth difference based on a left foot and a second depth difference based on a right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames;
and controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
With reference to the first aspect of the present invention, in a first embodiment of the present invention, the image capturing device includes a first infrared camera based on a left foot and a second infrared camera based on a right foot;
before the step of acquiring the walking image data of the real person through the image acquisition device, the step comprises the following steps:
and calibrating the positions of the first infrared camera, the second infrared camera and the projector.
With reference to the first aspect of the present invention, in a second aspect of the present invention, before calculating depth information of the walking image data, the method includes:
and calculating a phase main value of the first-step line image data and a phase main value of the second-step line image data through sinusoidal grating projection, acquiring an absolute phase of the first-step line image data according to the phase main value of the first-step line image data, and acquiring an absolute phase of the second-step line image data according to the phase main value of the second-step line image data.
With reference to the second embodiment of the first aspect of the present invention, in a third embodiment of the present invention, the calculating depth information of the walking image data includes:
performing stereo matching according to the absolute phase of the first-step line image data and the absolute phase of the second-step line image data, and obtaining a depth value based on a stereo matching result;
performing target detection based on the stereo matching result to obtain a left foot coordinate and a right foot coordinate;
obtaining a depth map based on the left foot and a depth map based on the right foot according to the coordinates of the left foot and the right foot and the depth values;
and obtaining first depth information based on the left foot and second depth information based on the right foot according to the depth map based on the left foot and the depth map based on the right foot.
With reference to the third embodiment of the first aspect of the present invention, in a fourth embodiment of the present invention, stereo matching is performed according to the absolute phase of the image data of the first step line and the absolute phase of the image data of the second step line, and a formula is as follows:
wherein the content of the first and second substances,
d＝xleft-xrightrepresenting the disparity value, Z the depth value, D the baseline distance, f the focal length of the first infrared camera and the second infrared camera.
With reference to the third embodiment of the first aspect of the present invention, in a fifth embodiment of the present invention, a method for performing target detection based on a stereo matching result to obtain left foot coordinates and right foot coordinates includes:
positioning the stereo matching result through a YOLO model to obtain a rectangular frame coordinate value comprising the left foot part and a rectangular frame coordinate value comprising the right foot part;
the coordinate value of the rectangular frame of the left foot part is the coordinate of the left foot part, and the coordinate value of the rectangular frame of the right foot part is the coordinate of the right foot part.
With reference to the first to fifth aspects of the present invention, in a sixth aspect of the present invention, a method for controlling an amount of displacement of a virtual character to be projected by a projector based on the first depth difference and the second depth difference, the method includes:
if the first depth difference is larger than the second depth difference, taking the first depth difference as the displacement of the virtual character;
and if the second depth difference is larger than the first depth difference, taking the second depth difference as the displacement of the virtual character.
A second aspect of the embodiments of the present invention provides a virtual human body displacement control apparatus, including:
a walking image data acquisition module for acquiring walking image data of a real person by an image acquisition device, the walking image data including first-step line image data based on a left foot and second-step line image data based on a right foot, the first-step line image data and the second-step line image data being sorted in units of frames;
a depth information calculation module for calculating depth information of the walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot;
the depth difference calculating module is used for calculating and obtaining a first depth difference based on a left foot and a second depth difference based on a right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames when the depth information of the current frame is obtained;
and the displacement control module is used for controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method provided in the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as provided in the first aspect above.
The embodiment of the invention provides a virtual character displacement control method, wherein image acquisition equipment is used for acquiring first-step line image data and second-step line image data of a real character during walking, depth information can be calculated based on the first-step line image data and the second-step line image data, namely the distance between two feet of the real character and the image acquisition equipment, and further, a depth difference is calculated so as to control the displacement of the virtual character to be projected by a projector, so that the real character and the virtual character have the same motion track. The virtual character displacement control method provided by the invention is not influenced by the accuracy of the sensor, and the data of the sensor is not required to be verified, so that a better control effect can be achieved.
Drawings
Fig. 1 is a schematic flow chart illustrating an implementation of a virtual character displacement control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a virtual character displacement control device according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Suffixes such as "module", "part", or "unit" used to denote elements are used herein only for the convenience of description of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
As shown in fig. 1, an embodiment of the present invention provides a virtual character displacement control method, including, but not limited to, the following steps:
s101, acquiring walking image data of the real person through an image acquisition device.
Wherein the walking image data includes first-step line image data based on a left foot and second-step line image data based on a right foot, and the first-step line image data and the second-step line image data are sorted in units of frames.
In an embodiment of the present invention, the image capturing device includes a first infrared camera based on a left foot and a second infrared camera based on a right foot, and before the first infrared camera, the second infrared camera, and the projector are used, internal and external parameters of the three are calibrated, and therefore, before the step S101, the method includes:
and calibrating the positions of the first infrared camera, the second infrared camera and the projector.
In a specific application, the camera internal parameter determines the relation between the coordinates of a certain point in a camera coordinate system and the pixel coordinates of an imaging plane, the camera external parameter is the rotation amount and the translation amount of the camera relative to a world coordinate system, the relative position and the posture between two cameras and a projector are determined, and the coordinate of the certain point in one camera can be converted into the coordinate in other camera coordinate systems or the world coordinate system.
The specific calibration method can adopt a Zhangyingyou calibration method, so that the required calibration precision can be achieved, and the principle is as follows:
wherein, A is an internal reference matrix, R, T is a rotation matrix and a translation vector of the camera relative to a world coordinate system, Zc is a target point depth under the camera coordinate system, and w is a projector.
And S102, calculating the depth information of the walking image data.
Wherein the depth information comprises first depth information based on a left foot and second depth information based on a right foot.
S103, when the depth information of the current frame is obtained, calculating to obtain a first depth difference based on the left foot and a second depth difference based on the right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames.
In step S103, the adjacent frame is preferably a frame previous to the current frame, so that the method for controlling the virtual character displacement according to the embodiment of the present invention has real-time performance.
In the above steps S102 and S103, the depth and the depth difference can be finally calculated by calculating the depth and the parallax corresponding to the pixel points and then using the triangulation method.
In practical applications, the key to calculate the depth difference is pixel matching, and in the conventional pixel matching method, the features of each pixel in each camera need to be calculated one by one for comparison, but such an algorithm has a large amount of calculation and is inefficient.
In the embodiment of the invention, the sinusoidal grating projection is utilized, namely, the programmable sinusoidal grating fringe pattern is projected by utilizing the projector in a time-sharing manner, and the stereo matching is carried out, so that the pixel matching is realized through the stereo matching, the situations of repeated textures, overexposure of photos, low brightness, low texture discrimination and the like are avoided, and the efficiency is improved.
Therefore, before calculating the depth information of the walking image data in step S102, matching basis data of stereo matching needs to be acquired, which includes:
and calculating a phase main value of the first-step line image data and a phase main value of the second-step line image data through sinusoidal grating projection, acquiring an absolute phase of the first-step line image data according to the phase main value of the first-step line image data, and acquiring an absolute phase of the second-step line image data according to the phase main value of the second-step line image data.
In one embodiment, the phase principal value is calculated as follows:
it should be noted that, in this embodiment, the calculation of the phase main value of one piece of walking image data is taken as an example for description, and the calculation of the phase main value of another piece of walking image data and the subsequent calculation of the absolute main value are the same, and are not described again.
Firstly, in this embodiment, the used sinusoidal grating projection is a projector that projects 4 programmable sinusoidal grating fringe patterns in a time-sharing manner, and the initial phases of the gratings are 0, pi/2, pi, and 3 pi/2, respectively, that is, the phase difference of the 4 grating patterns is pi/2, and then the sinusoidal grating fringe patterns are projected to an area to be detected, preferably, the area to be detected is the left foot coordinate or the right foot coordinate in the following target detection result, the sinusoidal grating in the sinusoidal grating fringe patterns is modulated in height by an object to be detected, that is, the left foot or the right foot of a real person in the first-step line image data or the second-step line image data, and the phase change generated by the sinusoidal grating is represented by a gray value:
wherein, I in the formulab(x, y) is background light intensity, Im(x, y) is the modulation intensity,
is the phase principal value, I1、I2、I3And I4Which shows a 4-fold shift in a period perpendicular to the grating strips.
When the sine-stripe is captured, the phase principal value is required to be obtained, i.e. in the above formula
The formula is as follows:
the phase principal value can be solved according to the formula to provide data for subsequent absolute phase acquisition.
In the phase principal value calculation process, the phase value is obtained by using an arctan function through a four-step phase shift algorithm, and the obtained phase value is an unreal phase value, so that the absolute phase calculation process, i.e., the phase unwrapping process, is as follows:
firstly, an image coded by a binary gray code is adopted, namely, only stripes with black and white colors are included to level grating stripes in the image subjected to sinusoidal grating projection processing, and the process is as follows:
projection log2nThe method comprises the following steps of taking a picture, wherein n is the number of fringe levels, and each point in the raster original image is assigned with Fi (x, y) according to the formula:
where t is 0,1,2, and 3 are each 4 phase shifts, as can be seen from the above equation,
and when the value is larger than the preset value, the value of i is obtained. Because the pitches and positions of the sinusoidal grating and the gray code are the same, in the binary gray code coded image, the center of a gray code stripe coincides with the center of a sinusoidal stripe, after the first-step line image data or the second-step line image data are collected, the central line of the stripe is extracted, the coded value corresponding to each pixel in the center of the stripe is obtained by comparing the pixel value of the gray code according to the position of the center of the stripe, and then the stripe level K can be obtained by solving, and the formula of the phase true value psi is as follows:
wherein the content of the first and second substances,
the phase principal value is obtained in the previous step.
Then, in step S102, the depth information of the walking image data is calculated, and the detailed steps are as follows:
performing stereo matching according to the absolute phase of the first-step line image data and the absolute phase of the second-step line image data, and obtaining a depth value based on a stereo matching result;
performing target detection based on the stereo matching result to obtain a left foot coordinate and a right foot coordinate;
obtaining a depth map based on the left foot and a depth map based on the right foot according to the coordinates of the left foot and the right foot and the depth values;
and obtaining first depth information based on the left foot and second depth information based on the right foot according to the depth map based on the left foot and the depth map based on the right foot.
The calculation formula of stereo matching is exemplarily as follows:
wherein the content of the first and second substances,
d＝xleft-xrightrepresenting the disparity value, Z the depth value, D the baseline distance, f the focal length of the first infrared camera and the second infrared camera.
The implementation of target detection based on the stereo matching result is exemplarily as follows:
positioning the stereo matching result through a YOLO model to obtain a rectangular frame coordinate value comprising the left foot part and a rectangular frame coordinate value comprising the right foot part;
the coordinate value of the rectangular frame of the left foot part is the coordinate of the left foot part, and the coordinate value of the rectangular frame of the right foot part is the coordinate of the right foot part.
To this end, the step S103 may be completed, wherein the first depth difference based on the left foot and the second depth difference based on the right foot are obtained through calculation according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of the adjacent frames.
And S104, controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
Based on the steps S101 to S103, the step S104 includes:
if the first depth difference is larger than the second depth difference, taking the first depth difference as the displacement of the virtual character;
and if the second depth difference is larger than the first depth difference, taking the second depth difference as the displacement of the virtual character.
As shown in fig. 2, an embodiment of the present invention provides a virtual human body displacement control device 20, including:
a walking image data acquisition module 21 configured to acquire walking image data of a real person by an image acquisition device, the walking image data including first-step line image data based on a left foot and second-step line image data based on a right foot, the first-step line image data and the second-step line image data being sorted in units of frames;
a depth information calculation module 22 for calculating depth information of the walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot;
the depth difference calculating module 23 is configured to, when the depth information of the current frame is obtained, calculate and obtain a first depth difference based on the left foot and a second depth difference based on the right foot according to the first depth information and the second depth information 24 of the current frame and the first depth information and the second depth information of adjacent frames;
and the displacement control module is used for controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
The embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the virtual character displacement control method in the foregoing embodiments are implemented.
An embodiment of the present invention further provides a storage medium, where the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, where the computer program, when executed by a processor, implements the steps of the virtual character displacement control method in the foregoing embodiments.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the foregoing embodiments illustrate the present invention in detail, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A virtual character displacement control method is characterized by comprising the following steps:
acquiring walking image data of a real person by an image acquisition device, wherein the walking image data comprises first step line image data based on a left foot and second step line image data based on a right foot, and the first step line image data and the second step line image data are sorted by taking a frame as a unit;
calculating depth information of the walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot;
when the depth information of the current frame is obtained, calculating and obtaining a first depth difference based on a left foot and a second depth difference based on a right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames;
and controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
2. The virtual character displacement control method as claimed in claim 1, wherein said image capturing device includes a first infrared camera based on a left foot and a second infrared camera based on a right foot;
before the step of acquiring the walking image data of the real person through the image acquisition device, the step comprises the following steps:
and calibrating the positions of the first infrared camera, the second infrared camera and the projector.
3. The virtual character displacement control method according to claim 2, wherein before calculating the depth information of the walking image data, the method comprises:
and calculating a phase main value of the first-step line image data and a phase main value of the second-step line image data through sinusoidal grating projection, acquiring an absolute phase of the first-step line image data according to the phase main value of the first-step line image data, and acquiring an absolute phase of the second-step line image data according to the phase main value of the second-step line image data.
4. The virtual character displacement control method according to claim 3, wherein calculating depth information of the walking image data includes:
performing stereo matching according to the absolute phase of the first-step line image data and the absolute phase of the second-step line image data, and obtaining a depth value based on a stereo matching result;
performing target detection based on the stereo matching result to obtain a left foot coordinate and a right foot coordinate;
obtaining a depth map based on the left foot and a depth map based on the right foot according to the coordinates of the left foot and the right foot and the depth values;
and obtaining first depth information based on the left foot and second depth information based on the right foot according to the depth map based on the left foot and the depth map based on the right foot.
5. The virtual character displacement control method of claim 4, wherein stereo matching is performed based on the absolute phase of the image data of the first step line and the absolute phase of the image data of the second step line, and the formula is:
wherein the content of the first and second substances,
d＝xleft-xrightrepresenting the disparity value, Z the depth value, D the baseline distance, f the focal length of the first infrared camera and the second infrared camera.
6. The virtual character displacement control method as claimed in claim 4, wherein the obtaining of the left foot coordinates and the right foot coordinates by performing the object detection based on the stereo matching result comprises:
positioning the stereo matching result through a YOLO model to obtain a rectangular frame coordinate value comprising the left foot part and a rectangular frame coordinate value comprising the right foot part;
the coordinate value of the rectangular frame of the left foot part is the coordinate of the left foot part, and the coordinate value of the rectangular frame of the right foot part is the coordinate of the right foot part.
7. The virtual character displacement control method according to any one of claims 1 to 6, wherein controlling the displacement amount of the virtual character to be projected by the projector based on the first depth difference and the second depth difference comprises:
if the first depth difference is larger than the second depth difference, taking the first depth difference as the displacement of the virtual character;
and if the second depth difference is larger than the first depth difference, taking the second depth difference as the displacement of the virtual character.
8. A virtual human body displacement control device is characterized by comprising:
a walking image data acquisition module for acquiring walking image data of a real person by an image acquisition device, the walking image data including first-step line image data based on a left foot and second-step line image data based on a right foot, the first-step line image data and the second-step line image data being sorted in units of frames;
a depth information calculation module for calculating depth information of the walking image data, the depth information including first depth information based on a left foot and second depth information based on a right foot;
the depth difference calculating module is used for calculating and obtaining a first depth difference based on a left foot and a second depth difference based on a right foot according to the first depth information and the second depth information of the current frame and the first depth information and the second depth information of adjacent frames when the depth information of the current frame is obtained;
and the displacement control module is used for controlling the displacement of the virtual character to be projected by the projector according to the first depth difference and the second depth difference.
9. A terminal device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the virtual character displacement control method according to any one of claims 1 to 7 when executing the computer program.
10. A storage medium which is a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the virtual character displacement control of any one of claims 1 to 7. Various steps in the method.
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