WO2020124976A1 - 图像处理方法及装置、电子设备及存储介质 - Google Patents
图像处理方法及装置、电子设备及存储介质 Download PDFInfo
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Definitions
- the present application relates to the field of information technology, and in particular, to an image processing method and device, electronic equipment, and storage medium.
- the 3D coordinate has one more coordinate value than the 2D coordinate, so that the 3D coordinate can have one more dimension of interaction than the 2D coordinate.
- the user's movement in the 3D space is collected and converted into the control of the game character in three mutually perpendicular directions, such as front, back, left, right, up and down.
- the user may need to input at least two operations, which simplifies user control and improves the user experience.
- this kind of interaction based on the 3D coordinates requires a corresponding 3D device.
- the user needs to wear a 3D somatosensory device (wearable device) that detects its movement in a three-dimensional space; or, a 3D camera needs to be used to collect the user’s 3D coordinates. Movement in space. Whether the user's movement in the 3D space is determined by the 3D somatosensory device or the 3D camera, the hardware cost is relatively high.
- the embodiments of the present application desire to provide an image processing method and apparatus, electronic equipment, and storage medium.
- An image processing method including:
- Relative coordinates are determined based on the first 2D coordinates and the second 2D coordinates, where the relative coordinates are used to characterize the relative position between the first part and the second part;
- An image processing device including:
- the first acquisition module is configured to acquire a 2D image of the target object
- a second acquisition module configured to acquire the first 2D coordinates of the first key point and the second 2D coordinates of the second key point according to the 2D image, wherein the first key point is the first of the target object An imaging point of a part in the 2D image; the second key point is an imaging point of the second part of the target object in the 2D image;
- a first determination module configured to determine relative coordinates based on the first 2D coordinates and the second 2D coordinates, wherein the relative coordinates are used to characterize the relative position between the first part and the second part;
- the projection module is configured to project the relative coordinates into a virtual three-dimensional space and obtain 3D coordinates corresponding to the relative coordinates, wherein the 3D coordinates are used to control the coordinate transformation of the target object on the controlled device.
- An electronic device including:
- a processor connected to the memory, is configured to implement the image processing method provided by any of the foregoing technical solutions by executing computer-executable instructions stored on the memory.
- a computer storage medium that stores computer-executable instructions; after being executed by a processor, the computer-executable instructions can implement the image processing method provided by any of the foregoing technical solutions.
- a computer program after being executed by a processor, can implement an image processing method provided by any of the foregoing technical solutions.
- the technical solution provided by the embodiment of the present application directly uses the relative coordinates between the first key point of the first part and the second key point of the second part of the target object in the 2D image to convert into the virtual three-dimensional space, thereby obtaining the relative The 3D coordinates corresponding to the coordinates; use this 3D coordinates to interact with the controlled device; instead of using the 3D body sensing device to collect 3D coordinates, the hardware structure for interaction based on the 3D coordinates is simplified and the hardware cost is saved.
- FIG. 1 is a schematic flowchart of a first image processing method provided by an embodiment of this application.
- FIG. 2 is a schematic diagram of a viewing cone provided by an embodiment of this application.
- FIG. 3 is a schematic flowchart of determining a relative coordinate provided by an embodiment of the present application.
- FIG. 4 is a schematic flowchart of a second image processing method provided by an embodiment of this application.
- 5A is a schematic diagram of a display effect provided by an embodiment of the present application.
- 5B is a schematic diagram of another display effect provided by an embodiment of the present application.
- FIG. 6 is a schematic structural diagram of an image processing device according to an embodiment of the present application.
- FIG. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
- this embodiment provides an image processing method, including:
- Step S110 Acquire a 2D image of the target object
- Step S120 Acquire the first 2D coordinates of the first key point and the second 2D coordinates of the second key point according to the 2D image, where the first key point is the first part of the target object in the An imaging point in the 2D image; the second key point is an imaging point in the 2D image of the second part of the target object;
- Step S130 Determine relative coordinates based on the first 2D coordinates and the second 2D coordinates, where the relative coordinates are used to characterize the relative position between the first part and the second part;
- Step S140 Project the relative coordinates into a virtual three-dimensional space and obtain 3D coordinates corresponding to the relative coordinates; wherein, the 3D coordinates are used to control the controlled device to perform a predetermined operation.
- the predetermined operation here includes but is not limited to the coordinate transformation of the target object on the controlled device.
- the acquired 2D (two-dimensional) image of the target object where the 2D image can be an image collected by any 2D camera.
- the 2D image can be collected by using a monocular camera located on the controlled device.
- the monocular camera may also be a camera connected to the controlled device.
- the collection area of the camera and the viewing area of the controlled device at least partially overlap.
- the controlled device is a game device such as a smart TV.
- the game device includes a display screen, an area where the display screen can be viewed is the viewing area, and the collection area is an area that the camera can collect.
- the collection area of the camera overlaps with the viewing area.
- the step S110 of acquiring a 2D image may include: acquiring a 2D image using a two-dimensional (2D) camera, or receiving a 2D image from an acquisition device.
- the target object may be: the hands and torso of the human body.
- the 2D image may be an image including the hands and torso of the human body.
- the first part is the hand of the human body, and the second part is the torso part.
- the first part may be the eyeball of the eye, and the second part may be the entire eye.
- the first part may be a foot of a human body, and the second part may be a torso of the human body.
- the imaging area of the first part in the 2D image is smaller than the imaging area of the second part in the 2D image.
- both the first 2D coordinate and the second 2D coordinate may be coordinate values in the first 2D coordinate system.
- the first 2D coordinate system may be a 2D coordinate system formed by the plane where the 2D image is located.
- the first 2D coordinates and the second 2D coordinates determine the relative coordinates characterizing the relative positions between the first key point and the second key point. Then the relative coordinates are projected into the virtual three-dimensional space.
- the virtual three-dimensional space may be a preset three-dimensional space, and the 3D coordinates of the relative coordinates in the virtual three-dimensional space are obtained.
- the 3D coordinates may be used for interaction based on the 3D coordinates related to the display interface.
- the virtual three-dimensional space may be various types of virtual three-dimensional spaces, and the coordinate range of the virtual three-dimensional space may range from negative infinity to positive infinity.
- a virtual camera can be provided in the virtual three-dimensional space.
- Figure 2 shows the viewing cone corresponding to the angle of view of a virtual camera.
- the virtual camera may be a mapping of the physical camera of the 2D image in a virtual three-dimensional space.
- the viewing cone may include a near clamping surface, a top surface, a right surface, and a left surface not marked in FIG. 2.
- the virtual viewpoint of the virtual three-dimensional space may be located on the near clip plane, for example, the virtual viewpoint is located on the center point of the near clip plane.
- the relative coordinates (2D coordinates) of the first key point relative to the second key point can be converted into a virtual three-dimensional space to obtain the first key point relative to the second 3D (three-dimensional) coordinates of key points.
- the near clip plane may also be called: near clipping plane; it is a plane close to the virtual viewpoint in the virtual three-dimensional space, and includes the starting plane of the virtual viewpoint. In the virtual three-dimensional space, it gradually extends from the near clamping surface to the distance.
- the interaction based on the 3D coordinates is: performing operation control according to the coordinate transformation of the target object in the virtual three-dimensional space at two moments.
- the interaction based on the 3D coordinates includes:
- the parameters of the game character on the corresponding three coordinate axes are controlled. For example, taking the movement control of a game character as an example, the game character moves in a three-dimensional space and can move back and forth, left and right, and jump up and down. After the relative coordinates of the user's hand with respect to the torso are converted into the three-dimensional space, the game character is controlled to move back and forth, left and right, and up and down according to the coordinate transformation amount or rate of change of the relative coordinates converted into the virtual three-dimensional space at two times.
- the relative coordinates are projected onto the x-axis coordinates in the virtual three-dimensional space, which is used to control the forward and backward movement of the game character
- the relative coordinates are projected onto the y-axis coordinates in the virtual three-dimensional space, which is used to control the left and right movement of the game character.
- the relative coordinates are projected to the coordinates on the z-axis in the virtual three-dimensional space, which is used to control the height of the game character jumping up and down.
- the display image in the display interface can be divided into at least: a background layer and a foreground layer, which can be determined as the control background layer according to the current 3D coordinate position of the z-axis coordinate on the virtual three-dimensional space
- the display image in the display interface may be further divided into: a background layer, a foreground layer, and one or more intermediate layers between the background layer and the foreground layer.
- determine the layer that the 3D coordinates act on then combine the coordinate values of the 3D coordinates on the x axis and the y axis to determine that the 3D coordinates are acting on the layer Which graphic element to further control the transformation of the graphic element affected by the 3D coordinates or perform the corresponding response operation.
- the virtual three-dimensional space may be a predefined three-dimensional space. Specifically, the virtual three-dimensional space is defined in advance according to the collection parameters of the collected 2D image.
- the virtual three-dimensional space may include: a virtual imaging plane and a virtual viewpoint. The vertical distance between the virtual viewpoint and the virtual imaging plane may be determined according to the focal length in the acquisition parameter.
- the size of the virtual imaging plane may be determined according to the size of the control plane of the controlled device. For example, the size of the virtual imaging plane is positively related to the size of the control plane of the controlled device.
- the control plane may be equal to the size of the display interface that receives the interaction based on the 3D coordinates.
- the method further includes: interacting with the controlled device based on the 3D coordinates, and the interaction may include: interaction between the user and the controlled device.
- the 3D coordinates can be regarded as user input so as to enable the controlled device to perform specific operations and realize the interaction between the user and the controlled device.
- the method further includes: controlling the coordinate transformation of the target object on the controlled device based on the amount or rate of change on three coordinate axes in the virtual three-dimensional space at two moments before and after.
- the step S120 may include: acquiring the first key point in the first 2D coordinate system corresponding to the 2D image, and acquiring the second key point in The second 2D coordinate in the first 2D coordinate system. That is, both the first 2D coordinate and the second 2D coordinate are determined based on the first 2D coordinate system.
- the step S130 may include: relative coordinates of imaging with respect to the second part, including: constructing a second 2D coordinate system according to the second 2D coordinates; converting the first 2D coordinates Map to the second 2D coordinate system to obtain a third 2D coordinate.
- the step S130 may include:
- Step S131 Construct a second 2D coordinate system according to the second 2D coordinate
- Step S132 Determine a conversion parameter mapped from the first 2D coordinate system to the second 2D coordinate system according to the first 2D coordinate system and the second 2D coordinate system; wherein, the conversion parameter is used to determine the Relative coordinates.
- the step S130 may further include:
- Step S133 Based on the conversion parameters, the first 2D coordinate is mapped to the second 2D coordinate system to obtain a third 2D coordinate.
- the second key points may be outer contour points imaged in the second part.
- a second 2D coordinate system can be constructed according to the coordinates of the second key point.
- the origin of the second 2D coordinate system may be the center point of the outer contour formed by the connection of the plurality of second key points.
- both the first 2D coordinate system and the second 2D coordinate system are boundary coordinate systems.
- the coordinates in the first 2D coordinate system can be mapped to the second 2D according to the sizes and/or center coordinates of the two 2D coordinate systems Conversion parameters in the coordinate system.
- the first 2D coordinate can be directly mapped to the second 2D coordinate system to obtain the third 2D coordinate.
- the third 2D coordinate is the coordinate after the first 2D coordinate is mapped to the second 2D coordinate system.
- the step S132 may include:
- the conversion parameter is determined based on the first ratio.
- the step S132 may further include:
- a conversion parameter between the first 2D coordinate system and the second 2D coordinate system is determined.
- the first ratio may be: the conversion ratio of the first 2D coordinate system and the second 2D coordinate system in the first direction
- the second ratio may be: the first 2D coordinate system and The conversion ratio of the second 2D coordinate system in the second direction.
- the second direction is the direction of the y-axis; if the first direction is the direction of the y-axis, the second direction is the x-axis Direction.
- the conversion parameter includes two conversion ratios, respectively a first size and a second size in the first direction to obtain a first ratio, and a third size between the third size and the fourth size in the second direction Two ratio.
- the step S132 may include:
- cam h is the distance between two edges in the second direction of the 2D image.
- the first direction and the second direction are perpendicular to each other.
- the conversion parameter may also introduce an adjustment factor.
- the adjustment factor includes: a first adjustment factor and/or a second adjustment factor.
- the adjustment factor may include a weighting factor and/or a scale factor. If the adjustment factor is a scale factor, the conversion parameter may be: a product of the first ratio and/or the second ratio and the scale factor. If the adjustment factor is a weighting factor, the conversion parameter may be: a weighted sum of the first ratio and/or the second ratio and the weighting factor.
- the step S134 may include: mapping the first 2D coordinate to the second 2D coordinate system based on the conversion parameter and the center coordinate of the first 2D coordinate system to obtain a third 2D coordinates.
- the third 2D coordinate may represent the position of the first part relative to the second part.
- the step S134 may include: determining the third 2D coordinate by using the following functional relationship:
- (x 3 , y 3 ) is the third 2D coordinate; (x 1 , y 1 ) is the first 2D coordinate; (x t , y t ) is the center point of the second part at the first A coordinate in a 2D coordinate system.
- x represents the coordinate value in the first direction
- y represents the coordinate value in the second direction
- the step S140 may include:
- the 3D coordinates of the first key point projected into the virtual three-dimensional space are determined.
- the third 2D coordinate may be directly projected to project the third 2D coordinate into the virtual imaging plane.
- the third 2D coordinates are normalized, and then projected into the virtual imaging plane after the normalization.
- the distance between the virtual viewpoint and the virtual imaging plane may be a known distance.
- the normalization process When performing the normalization process, it may be performed based on the size of the 2D image, or may be determined based on a predetermined size. There are many ways of the normalization process.
- the normalization process reduces the inconvenience of data processing caused by the excessive change in the third 2D coordinates of the 2D images collected at different acquisition times, and simplifies the subsequent data processing.
- the normalizing the third 2D coordinate to obtain a fourth 2D coordinate includes: combining the size of the second part and the center coordinate of the second 2D coordinate system, the The third 2D coordinates are normalized to obtain the fourth 2D coordinates.
- the combining of the size of the second part and the center coordinate of the second 2D coordinate system to normalize the third 2D coordinate to obtain the fourth 2D coordinate includes:
- (x 4 , y 4 ) is the fourth 2D coordinate;
- (x 1 , y 1 ) is the first 2D coordinate;
- (x t , y t ) is the center point of the second local The coordinates in the first 2D coordinate system;
- (x i , y i ) are the coordinates of the center point of the 2D image in the first 2D coordinate system.
- the 2D image is generally rectangular, and the center point of the 2D image here is the center point of the rectangle.
- torso w is the size of the 2D image in the first direction
- torso h is the size of the 2D image in the second direction
- K is the first 2D coordinate mapped to the second 2D coordinate system in the first direction Conversion parameter in the direction
- S is the conversion parameter of the first 2D coordinate mapped to the second 2D coordinate system in the second direction
- the first direction is perpendicular to the second direction.
- the solution function of the fourth 2D coordinate may be as follows:
- the combination of the fourth 2D coordinates and the distance from the virtual viewpoint in the virtual three-dimensional space to the virtual imaging plane determines the 3D coordinates of the first key point projected into the virtual three-dimensional space Including: combining the fourth 2D coordinates, the distance from the virtual viewpoint in the virtual three-dimensional space to the virtual imaging plane and the zoom ratio, determining the 3D coordinates of the first key point projected into the virtual three-dimensional space; For example, the following functional relationship may be used to determine the 3D coordinates:
- x4 is the coordinate value of the fourth 2D coordinate in the first direction
- y4 is the coordinate value of the fourth 2D coordinate in the second direction
- dds is the scaling ratio
- d is the virtual in the virtual three-dimensional space The distance from the viewpoint to the virtual imaging plane.
- the zoom ratio may be a predetermined static value, or may be dynamically determined according to the distance of the collected object (for example, the collected user) from the camera.
- the method further includes:
- the step S120 may include:
- the first 2D coordinates of the first key point and the second 2D coordinates of the second key point of each target object are obtained to obtain M sets of the 3D coordinates.
- contour detection for example, face detection can detect how many control users are in a 2D image, and then obtain the corresponding 3D coordinates based on each control user.
- step S130 For example, if 3 users are detected in a 2D image, you need to obtain the image areas of the 3 users in the 2D image, and then based on the 2D coordinates of the key points of the hands and torso of the 3 users, And through the execution of step S130 to step S150, 3D coordinates corresponding to three users in the virtual three-dimensional space can be obtained.
- the method includes:
- Step S210 display the control effect based on the 3D coordinates in the first display area
- Step S220 Display the 2D image in the second display area corresponding to the first display area.
- the control effect will be displayed in the first display area, and the 2D image is displayed in the second area.
- the first display area and the second display area may correspond to different display screens, for example, the first display area may correspond to the first display screen, and the second display area may correspond to the second display Screen; the first display screen and the second display screen are arranged side by side.
- first display area and the second display area may be different display areas of the same display screen.
- the first display area and the second display area may be two display areas arranged in parallel.
- an image with a control effect is displayed in the first display area, and a 2D image is displayed in the second display area juxtaposed with the first display area.
- the 2D image displayed in the second display area is a 2D image currently collected in real time or a video frame currently collected in 2D video in real time.
- the displaying the 2D image in the second display area corresponding to the first display area includes:
- the second reference figure of the second key point is displayed on the 2D image displayed in the second display area.
- the first reference graphic is displayed superimposed on the first key point, and by displaying the first reference graphic, the position of the first key point can be highlighted.
- the display parameters such as color and/or brightness used in the first reference image are distinguished from the display parameters such as color and/or brightness that are imaged by other parts of the target object.
- the second reference graphic is also superimposed and displayed on the second key point, so that it is convenient for the user to visually judge himself based on the first reference graphic and the second reference graphic The relative positional relationship between the first part and the second part, so that the subsequent targeted adjustment.
- the display parameters such as color and/or brightness used by the second reference graphic are distinguished from the display parameters such as color and/or brightness that are imaged by other parts of the target object.
- the display parameters of the first reference graphic and the second reference graphic are different, which is convenient for the user to visually Make a distinction and improve the user experience.
- the method further includes:
- An association indication graphic is generated, wherein one end of the association indication graphic points to the first reference graphic, and the other end of the second association indication graphic points to a controlled element on the controlled device.
- the controlled element may include: a controlled object such as a game object or a cursor displayed on the controlled device.
- the first reference graphic and/or the second reference graphic are also displayed on the 2D image displayed in the second display area.
- associated indication graphics are displayed together on the first display area and the second display area.
- this embodiment provides an image processing apparatus, including:
- the first acquisition module 110 is configured to acquire a 2D image of the target object
- the second obtaining module 120 is configured to obtain the first 2D coordinates of the first key point and the second 2D coordinates of the second key point according to the 2D image, wherein the first key point is the first An imaging point of a part in the 2D image; the second key point is an imaging point of the second part of the target object in the 2D image;
- the first determining module 130 is configured to determine relative coordinates based on the first 2D coordinates and the second 2D coordinates, wherein the relative coordinates are used to characterize the relative position between the first part and the second part ;
- the projection module 140 is configured to project the relative coordinates into a virtual three-dimensional space and obtain 3D coordinates corresponding to the relative coordinates, where the 3D coordinates are used to control the controlled device to perform a predetermined operation.
- the predetermined operation here includes but is not limited to the coordinate transformation of the target object on the controlled device.
- the first acquisition module 110, the second acquisition module 120, the first determination module 130, and the projection module 140 may be program modules. After the program modules are executed by the processor, the above modules can be implemented. Features.
- the first acquisition module 110, the second acquisition module 120, the first determination module 130, and the projection module 140 may be soft and hard combination modules, and the soft and hard combination modules may include: various programmable arrays ; For example, complex programmable array or field programmable array.
- the first acquisition module 110, the second acquisition module 120, the first determination module 130, and the projection module 140 may be pure hardware modules, and the pure hardware modules may be dedicated integrated circuits.
- the first 2D coordinate and the second 2D coordinate are 2D coordinates located within the first 2D coordinate system.
- the second acquiring module 120 is configured to acquire the first 2D coordinates of the first key point in the first 2D coordinate system corresponding to the 2D image, and acquire the second The second 2D coordinate with the key point in the first 2D coordinate system;
- the first determining module 130 is configured to construct a second 2D coordinate system according to the second 2D coordinate; map the first 2D coordinate to the second 2D coordinate system to obtain a third 2D coordinate.
- the first determining module 130 is further configured to determine the mapping from the first 2D coordinate system to the second 2D coordinate system based on the first 2D coordinate system and the second 2D coordinate system Conversion parameter; based on the conversion parameter, mapping the first 2D coordinate to the second 2D coordinate system to obtain a third 2D coordinate.
- the first determining module 130 is configured to determine the first size of the 2D image in the first direction, determine the second size of the second part in the first direction; determine the A first ratio between the first size and the second size; the conversion parameter is determined according to the first ratio.
- the first determining module 130 is further configured to determine a third size of the 2D image in the second direction and determine a fourth size of the second part in the second direction, wherein , The second direction is perpendicular to the first direction; according to the second ratio between the second dimension and the third dimension; the first ratio and the second ratio are combined to determine the first Conversion parameters between the 2D coordinate system and the second 2D coordinate system.
- the first determining module 130 is specifically configured to determine the conversion parameter using the following functional relationship:
- the first determining module 130 is configured to determine the third 2D coordinate using the following functional relationship:
- (x 3 , y 3 ) is the third 2D coordinate; (x 1 , y 1 ) is the first 2D coordinate; (x t , y t ) is the center point of the second part at the first A coordinate in a 2D coordinate system.
- the projection module 140 is configured to normalize the third 2D coordinate to obtain a fourth 2D coordinate; combining the fourth 2D coordinate and the virtual viewpoint to the virtual in the virtual three-dimensional space The distance in the imaging plane determines the 3D coordinates of the first key point projected into the virtual three-dimensional space.
- the projection module 140 is configured to combine the size of the second part and the center coordinate of the second 2D coordinate system to normalize the third 2D coordinate to obtain the first Four 2D coordinates.
- the projection module 140 is configured to determine the projection of the first key point to the fourth 2D coordinate, the distance from the virtual viewpoint in the virtual three-dimensional space to the virtual imaging plane, and the zoom ratio 3D coordinates in the virtual three-dimensional space.
- the projection module 140 may be configured to determine the 3D coordinates based on the following functional relationship:
- (x 1 , y 1 ) is the first 2D coordinate;
- (x t , y t ) is the coordinate of the center point of the second part in the first 2D coordinate system;
- (x i , y i ) is the coordinate of the center point of the 2D image in the first 2D coordinate system;
- torso w is the size of the 2D image in the first direction;
- torso h is the size of the 2D image in the second direction Size;
- K is the conversion parameter of the first 2D coordinate mapped to the second 2D coordinate system in the first direction;
- S is the first 2D coordinate mapped to the second 2D coordinate system in the second direction
- the conversion parameter of; the first direction is perpendicular to the second direction.
- the projection module 140 is configured to determine the projection of the first key point to the fourth 2D coordinate, the distance from the virtual viewpoint in the virtual three-dimensional space to the virtual imaging plane, and the zoom ratio 3D coordinates in the virtual three-dimensional space.
- the projection module 140 may be configured to determine the 3D coordinates using the following functional relationship:
- x4 is the coordinate value of the fourth 2D coordinate in the first direction
- y4 is the coordinate value of the fourth 2D coordinate in the second direction
- dds is the scaling ratio
- d is the virtual in the virtual three-dimensional space The distance from the viewpoint to the virtual imaging plane.
- the device further includes:
- a second determination module configured to determine the number M of the target objects on the 2D image and the 2D image area of the target object on the 2D image;
- the second obtaining module 120 is configured to obtain the first 2D coordinates of the first key point and the second 2D coordinates of the second key point of each target object according to the 2D image area, to Obtain M sets of the 3D coordinates.
- the device includes:
- a first display module configured to display the control effect based on the 3D coordinates in the first display area
- the second display module is configured to display the 2D image in a second display area corresponding to the first display area.
- the second display module is further configured to display the first finger of the first key point on the 2D image displayed in the second display area according to the first 2D coordinates Generation graphics; and/or, according to the second 2D coordinates, displaying the second reference graphics of the second key point on the 2D image displayed in the second display area.
- the device further includes:
- the control module is configured to control the coordinate transformation of the target object on the controlled device based on the amount or rate of change on three coordinate axes in the virtual three-dimensional space at the two moments before and after.
- This example provides an image processing method including:
- each frame converts the current frame to BGRA format, and flips it as needed.
- the data stream is saved as an object with time stamp.
- the current frame is detected by the face handle and the face recognition result and the number of faces are obtained. This result assists the tracking of the key points of the human pose.
- the hand key point is the aforementioned first key point.
- the hand key point may be a wrist key point.
- the shoulder key point and waist key point of the human body may be torso key points, which are the second key points mentioned in the foregoing embodiments.
- the new coordinates of the hand relative to the body are calculated through the relative coefficients, the recalibrated hand coordinates, and the body center coordinates.
- the operation space to be projected is generated in the virtual three-dimensional space, the distance D between the observation point and the receiving operation object is calculated, and the viewpoint coordinates are converted into the coordinates of the operation cursor in the three-dimensional space through X, Y and D.
- the conversion function of the key point of the hand into the second 2D coordinate system corresponding to the torso can be as follows:
- the conversion function of the key points of the hand into the second 2D coordinate system corresponding to the torso can be:
- torso represents the coordinates of the key points of the torso in the first 2D coordinate system
- cam-center is the center coordinate of the first 2D coordinate corresponding to the 2D image.
- a scaling ratio may be introduced, and the value range of the scaling ratio may be between 1 and 3, or between 1.5 and 2.
- d can be the distance between (x c , y c , z c ) and (x j , y j , z j ).
- the 3D coordinates converted into the virtual three-dimensional space can be:
- an image processing device including:
- Memory used to store information
- a processor connected to the memory, is configured to execute the image processing method provided by the foregoing one or more technical solutions by executing computer-executable instructions stored on the memory, for example, as shown in FIG. 1, FIG. 3, and FIG. One or more of the methods shown in 4.
- the memory may be various types of memory, such as random access memory, read-only memory, flash memory, etc.
- the memory can be used for information storage, for example, storing computer-executable instructions.
- the computer executable instructions may be various program instructions, for example, target program instructions and/or source program instructions.
- the processor may be various types of processors, for example, a central processor, a microprocessor, a digital signal processor, a programmable array, a digital signal processor, an application specific integrated circuit, or an image processor.
- the processor may be connected to the memory through a bus.
- the bus may be an integrated circuit bus or the like.
- the terminal device may further include: a communication interface, and the communication interface may include: a network interface, for example, a local area network interface, a transceiver antenna, and the like.
- the communication interface is also connected to the processor and can be used for information transmission and reception.
- the image processing device further includes a camera, which may be a 2D camera, and may collect 2D images.
- a camera which may be a 2D camera, and may collect 2D images.
- the terminal device further includes a human-machine interaction interface.
- the human-machine interaction interface may include various input and output devices, such as a keyboard, a touch screen, and the like.
- Embodiments of the present application provide a computer storage medium that stores computer executable code; after the computer executable code is executed, the image processing method provided by one or more of the foregoing technical solutions can be implemented, for example , One or more of the methods shown in Figures 1, 3, and 4.
- the storage medium includes: mobile storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.
- the storage medium may be a non-transitory storage medium.
- An embodiment of the present application provides a computer program product, where the program product includes computer-executable instructions; after the computer-executable instructions are executed, the image processing method provided by any of the foregoing implementations can be implemented, for example, as shown in FIGS. 1 and 3 And one or more of the methods shown in FIG. 4.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are only schematic.
- the division of the units is only a division of logical functions.
- the displayed or discussed components are coupled to each other, or directly coupled, or the communication connection may be through some interfaces, and the indirect coupling or communication connection of the device or unit may be electrical, mechanical, or other forms of.
- the above-mentioned units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
- the functional units in the embodiments of the present application may all be integrated into one processing module, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integration
- the unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
- the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, Including the steps of the above method embodiments; and the foregoing storage media include: mobile storage devices, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc. A medium that can store program codes.
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Abstract
Description
Claims (31)
- 一种图像处理方法,包括:获取目标对象的2D图像;根据所述2D图像,获取第一关键点的第一2D坐标和第二关键点的第二2D坐标,其中,所述第一关键点为所述目标对象的第一局部在所述2D图像中的成像点;所述第二关键点为所述目标对象的第二局部在所述2D图像中的成像点;基于第一2D坐标及所述第二2D坐标,确定相对坐标,其中,所述相对坐标用于表征所述第一局部和所述第二局部之间的相对位置;将所述相对坐标投影到虚拟三维空间内并获得与所述相对坐标对应的3D坐标,其中,所述3D坐标用于控制受控设备上目标对象坐标变换。
- 根据权利要求1所述的方法,其中,所述第一2D坐标和所述第二2D坐标为位于第一2D坐标系内的2D坐标。
- 根据权利要求2所述的方法,其中,所述基于第一2D坐标及所述第二2D坐标,确定相对坐标,包括:根据所述第二2D坐标,构建第二2D坐标系;将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标;根据第三2D坐标确定所述相对坐标。
- 根据权利要求3所述的方法,其中,所述将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标,还包括:根据所述第一2D坐标系和第二2D坐标系,确定从所述第一2D坐标系映射到所述第二2D坐标系的转换参数;基于所述转换参数,将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标。
- 根据权利要求4所述的方法,其中,所述根据所述第一2D坐标系和第二2D坐标系,确定从第一2D坐标系映射到所述第二2D坐标系的转换参数,包括:确定所述2D图像在第一方向上的第一尺寸,确定所述第二局部在第一方向上的第二尺寸;确定所述第一尺寸及所述第二尺寸之间的第一比值;根据所述第一比值确定所述转换参数。
- 根据权利要求5所述的方法,其中,所述根据所述第一比值确定所述转换参数,还包括:确定所述2D图像在第二方向上的第三尺寸,确定所述第二局部在第二方向上的第四尺寸,其中,所述第二方向垂直于所述第一方向;确定所述第三尺寸与所述第四尺寸之间的第二比值;结合所述第一比值和第二比值,确定所述转换参数。
- 根据权利要求4至6任一项所述的方法,其中,所述基于所述转换参数,将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标,包括:基于所述转换参数及所述第一2D坐标系的中心坐标,将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标。
- 根据权利要求3至7任一项所述的方法,其中,所述将所述相对坐标投影到虚拟三维空间内并获得与所述相对坐标对应的3D坐标,包括:对所述第三2D坐标进行归一化处理得到第四2D坐标;结合所述第四2D坐标及所述虚拟三维空间内虚拟视点到虚拟成像平面内的距离,确定所述第一关键点投影到所述虚拟三维空间内的3D坐标。
- 根据权利要求8所述的方法,其中,所述对所述第三2D坐标进行归一化处理得到第四2D坐标,包括:结合所述第二局部的尺寸及所述第二2D坐标系的中心坐标,对所述第三2D坐标进行归一化处理得到所述第四2D坐标。
- 根据权利要求8或9所述的方法,其中,所述结合所述第四2D坐标及所述虚拟三维空间内虚拟视点到虚拟成像平面内的距离,确定所述第一关键点投影到所述虚拟三维空间内的3D坐标,包括:结合所述第四2D坐标、所述虚拟三维空间内虚拟视点到虚拟成像平面内的距离及缩放比例,确定所述第一关键点投影到所述虚拟三维空间内的3D坐标。
- 根据权利要求1至10任一项所述的方法,其中,所述方法还包括:确定所述目标对象的数目M及每个目标对象在所述2D图像的2D图像区域,所述M为大于1的整数;所述根据所述2D图像,获取第一关键点的第一2D坐标和第二关键点的第二2D坐标,包括:根据所述2D图像区域,获得每一个所述目标对象的所述第一关键点的第一2D坐标和所述第二关键点的第二2D坐标,以获得M组所述3D坐标。
- 根据权利要求1至11任一项所述的方法,其中,所述方法还包括:在第一显示区域内显示基于所述3D坐标的控制效果;在与所述第一显示区域对应的第二显示区域内显示所述2D图像。
- 根据权利要求12所述的方法,其中,所述在与所述第一显示区域对应的第二显示区域内显示所述2D图像,包括:根据所述第一2D坐标,在所述第二显示区域内显示的所述2D图像上显示所述第一关键点的第一指代图形,所述第一指代图形是叠加显示在所述第一关键点上的图像;和/或,根据所述第二2D坐标,在所述第二显示区域内显示的所述2D图像上显示所述第二关键点的第二指代图形,所述第二指代图形是叠加显示在所述第二关键点上的图像。
- 根据权利要求1至13任一项所述的方法,所述方法还包括:基于前后两个时刻在虚拟三维空间内三个坐标轴上的变化量或变化率,控制受控设备上目标对象坐标变换。
- 一种图像处理装置,包括:第一获取模块,配置为获取目标对象的2D图像;第二获取模块,配置为根据所述2D图像,获取第一关键点的第一2D坐标和第二关键点的第二2D坐标,其中,所述第一关键点为所述目标对象的第一局部在所述2D图像中的成像点;所述第二关键点为所述目标对象的第二局部在所述2D图像中的成像点;第一确定模块,配置为基于第一2D坐标及所述第二2D坐标,确定相对坐标,其中,所述相对坐标用于表征所述第一局部和所述第二局部之间的相对位置;投影模块,配置为将所述相对坐标投影到虚拟三维空间内并获得与所述相对坐标对应的3D坐标,其中,所述3D坐标用于控制受控设备上目标对象坐标变换。
- 根据权利要求15所述的装置,其中,所述第一2D坐标和所述第二2D坐标为位于第一2D坐标系内的2D坐标。
- 根据权利要求16所述的装置,其中,所述第一确定模块,配置为根据所述第二2D坐标,构建第二2D坐标系;将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标。
- 根据权利要求17所述的装置,其中,所述第一确定模块,还配置为根据所述第一2D坐标系和第二2D坐标系,确定从所述第一2D坐标系映射到所述第二2D坐标系的转换参数,基于所述转换参数,将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标。
- 根据权利要求18所述的装置,其中,所述第一确定模块,配置为确定所述2D图像在第一方向上的第一尺寸,确定所述第二局部在第一方向上的第二尺寸;确定所述第一尺寸及所述第二尺寸之间的第一比值;根据所述第一比值确定所述转换参数。
- 根据权利要求19所述的装置,其中,所述第一确定模块,还配置为确定所述2D图像在第二方向上的第三尺寸,确定所述第二局部在第二方向上的第四尺寸,其中,所述第二方向垂直于所述第一方向;根据所述第三尺寸与所述第四尺寸之间的第二比值;结合所述第一比值和第二比值,确定所述转换参数。
- 根据权利要求18至20中任一项所述的装置,其中,所述第一确定模块,配置为基于所述转换参数及所述第一2D坐标系的中心坐标,将所述第一2D坐标映射到所述第二2D坐标系,获得第三2D坐标。
- 根据权利要求18至21任一项所述的装置,其中,所述投影模块,配置为对所述第三2D坐标进行归一化处理得到第四2D坐标;结合所述第四2D坐标及所述虚拟三维空间内虚拟视点到虚拟成像平面内的距离,确定所述第一关键点投影到所述虚拟三维空间内的3D坐标。
- 根据权利要求22所述的装置,其中,所述投影模块,配置为结合所述第二局部的尺寸及所述第二2D坐标系的中心坐标,对所述第三2D坐标进行归一化处理得到所述第四2D坐标。
- 根据权利要求22或23所述的装置,其中,所述投影模块,配置为结合所述第四2D坐标、所述虚拟三维空间内虚拟视点到虚拟成像平面内的距离及缩放比例,确定所述第一关键点投影到所述虚拟三维空间内的3D坐标。
- 根据权利要求15至24任一项所述的装置,其中,所述装置还包括:第二确定模块,配置为确定所述2D图像上所述目标对象的数目M及所述目标对象在所述2D图像上的2D图像区域;所述第二获取模块,配置为根据所述2D图像区域,获得每一个所述目标对象的所述第一关键点的第一2D坐标和所述第二关键点的第二2D坐标,以获得M组所述3D坐标。
- 根据权利要求15至25任一项所述的装置,其中,所述装置包括:第一显示模块,配置为在第一显示区域内显示基于所述3D坐标的控制效果;第二显示模块,配置为在与所述第一显示区域对应的第二显示区域内显示所述2D图像。
- 根据权利要求26所述的装置,其中,所述第二显示模块,还配置为根据所述第一2D坐标,在所述第二显示区域内显示的所述2D图像上显示所述第一关键点的第一指代图形;和/或,根据所述第二2D坐标,在所述第二显示区域内显示的所述2D图像上显示所述第二关键点的第二指代图形。
- 根据权利要求15至17任一项所述的装置,其中,所述装置还包括:控制模块,配置为基于前后两个时刻在虚拟三维空间内三个坐标轴上的变化量或变化率,控制受控设备上目标对象坐标变换。
- 一种电子设备,其中,包括:存储器;处理器,与所述存储器连接,用于通过执行存储在所述存储器上的计算机可执行指令实现权利要求1至14任一项提供的方法。
- 一种计算机存储介质,所述计算机存储介质存储有计算机可执行指令;所述计算机可执行指令被处理器执行后,能够实现权利要求1至14任一项提供的方法。
- 一种计算机程序,其中,所述计算机程序被处理器执行后,能够实现权利要求1至14任一项提供的方法。
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CN109675315B (zh) * | 2018-12-27 | 2021-01-26 | 网易(杭州)网络有限公司 | 游戏角色模型的生成方法、装置、处理器及终端 |
KR20220018760A (ko) | 2020-08-07 | 2022-02-15 | 삼성전자주식회사 | 단말에 3d 캐릭터 이미지를 제공하는 엣지 데이터 네트워크 및 그 동작 방법 |
CN111985384A (zh) * | 2020-08-14 | 2020-11-24 | 深圳地平线机器人科技有限公司 | 获取脸部关键点的3d坐标及3d脸部模型的方法和装置 |
CN111973984B (zh) * | 2020-09-10 | 2024-07-09 | 网易(杭州)网络有限公司 | 虚拟场景的坐标控制方法、装置、电子设备及存储介质 |
CN112465890A (zh) * | 2020-11-24 | 2021-03-09 | 深圳市商汤科技有限公司 | 深度检测方法、装置、电子设备和计算机可读存储介质 |
US11461975B2 (en) * | 2020-12-03 | 2022-10-04 | Realsee (Beijing) Technology Co., Ltd. | Method and apparatus for generating guidance among viewpoints in a scene |
TWI793764B (zh) * | 2021-09-14 | 2023-02-21 | 大陸商北京集創北方科技股份有限公司 | 屏下光學指紋鏡頭位置補償方法、屏下光學指紋採集裝置及資訊處理裝置 |
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CN111353930B (zh) | 2022-05-24 |
JP7026825B2 (ja) | 2022-02-28 |
KR102461232B1 (ko) | 2022-10-28 |
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