CN110307788B - Multi-depth camera human body parameter measuring method and device - Google Patents
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Abstract
The invention discloses a method and a device for measuring human body parameters by a multi-depth camera, wherein the method comprises the following steps: acquiring a current object depth image; fusing the depth images into a regular point cloud; fitting the parameterized human body template, and solving the morphological parameters and the attitude parameters of the parameterized human body template to ensure that the SMPL human body template based on the parameter deformation is fitted with the obtained point cloud as much as possible; and acquiring the human body parameters of the current object in a human body parameter acquisition mode defined by the standard parameterized human body template. The method has low requirement on equipment, is accurate and robust, is simple to use, is suitable for common merchants, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a method and a device for measuring human body parameters by using multiple depth cameras.
Background
In the virtual fitting application scenario, human body parameters (such as height, waist circumference, hip circumference, leg length, etc.) of the user are important. Only if the body parameters of the user are accurately measured, the clothes can be customized for the user, or the visual effect of wearing the specific clothes on the user can be simulated. On the one hand, however, the existing methods for acquiring the human body parameters of the user are all realized by manual measurement and cannot be automatically completed. On the other hand, the equipment for scanning the human body mostly utilizes a laser scanning solution with high price, and is difficult to build and popularize. Based on this, there is a need to solve the problems currently existing.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a multi-depth camera human body parameter measuring method which is low in cost, easy to build, capable of accurately measuring various human body parameters and wide in application prospect.
The invention also aims to provide a multi-depth camera human body parameter measuring device.
In order to achieve the above object, the present invention provides a method for measuring parameters of a human body with multiple depth cameras, comprising the following steps: acquiring a current object depth image; fusing the depth images into a regular point cloud; solving the morphological parameters and the attitude parameters of the parameterized human body template, deforming the parameterized human body template, and fitting the parameterized human body template with the regular point cloud; and acquiring the human body parameters of the current object in a human body parameter acquisition mode defined by a standard parameterized human body template.
The multi-depth camera human body parameter measuring method provided by the embodiment of the invention can accurately solve a plurality of human body parameters including height, weight, chest circumference, waist circumference, hip circumference, arm length, leg length and the like, is low in cost, easy to build, very practical, suitable for various practical applications such as virtual fitting, games and the like, and suitable for common merchants, and has a wide application prospect.
In addition, the multi-depth camera human body parameter measuring method according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, a depth camera is used to collect the current object, so as to obtain the depth image.
Further, in an embodiment of the present invention, the fusing the depth images into a regular point cloud further comprises: projecting each pixel in the depth image to a world coordinate system according to the internal and external parameters of each depth camera; and reconstructing the coordinates of each pixel in the world coordinate system into a regular point cloud by using a Poisson reconstruction algorithm.
Further, in an embodiment of the present invention, the fitting the parameterized human body template, solving morphological parameters and pose parameters of the parameterized human body template, and fitting the parameterized human body template to the regular point cloud further includes: finding out points corresponding to the regular point cloud in the parameterized human body template, and constructing all corresponding points into a corresponding point set; defining an energy function according to the corresponding point set, wherein the energy function is used for solving the morphological parameters and the attitude parameters by minimizing the distance between corresponding points; deforming the parameterized human body template according to the morphological parameters and the posture parameters to obtain a deformed parameterized human body template; and reconstructing the corresponding point set according to the deformed parameterized human body template, and iterating until convergence so as to fit the parameterized human body template with the regular point cloud.
Further, in an embodiment of the present invention, the standard parameterized body template is a calculation formula defining each body parameter on the parameterized body template in advance
In order to achieve the above object, another aspect of the present invention provides a multi-depth camera human body parameter measuring device, including: the system comprises a camera support and 16 depth cameras, wherein the depth cameras are divided into 4 groups and are respectively placed at four vertical edges of the camera support and used for acquiring a current object depth image; the fusion module is used for fusing the depth images into regular point clouds; the fitting module is used for solving the morphological parameters and the attitude parameters of the parameterized human body template, so that the parameterized human body template is deformed and is fitted with the regular point cloud; the measuring module is used for acquiring the human body parameters of the current object in a human body parameter acquiring mode defined by a standard parameterized human body template.
The multi-depth camera human body parameter measuring device provided by the embodiment of the invention can accurately solve a plurality of human body parameters including height, weight, chest circumference, waist circumference, hip circumference, arm length, leg length and the like, is low in cost, easy to build, very practical, suitable for various practical applications such as virtual fitting, games and the like, and suitable for common merchants, and has a wide application prospect.
In addition, the multi-depth camera human body parameter measuring device according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, each vertical edge of the camera rig fixes 4 depth cameras at equal distances in the same vertical direction, with the depth cameras facing the central axis of the camera rig.
Further, in an embodiment of the present invention, the fusion module further includes: a projection unit for projecting each pixel in the depth image to a world coordinate system according to the internal and external parameters of each depth camera; and the reconstruction unit is used for reconstructing the coordinates of each pixel in the world coordinate system into a regular point cloud by using a Poisson reconstruction algorithm.
Further, in an embodiment of the present invention, the fitting module further includes: the building unit is used for finding out points corresponding to the regular point cloud in the parameterized human body template and building all corresponding points into a corresponding point set; a calculation unit, configured to define an energy function according to the corresponding point set, where the energy function is used to obtain the morphological parameter and the pose parameter by minimizing a distance between corresponding points; the deformation unit is used for deforming the parameterized human body template according to the morphological parameters and the posture parameters to obtain a deformed parameterized human body template; and the iteration fitting unit is used for reconstructing the corresponding point set according to the deformed parameterized human body template, and iterating until convergence so as to fit the parameterized human body template with the regular point cloud.
Further, in an embodiment of the present invention, the standard parameterized body template is a calculation formula in which each body parameter is defined in advance on the parameterized body template.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for measuring parameters of a human body with multiple depth cameras according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an apparatus for acquiring depth images according to an embodiment of the present invention;
FIG. 3 is a flowchart of step S2 of fusing depth images into a regular point cloud according to one embodiment of the present invention;
FIG. 4 is a flowchart of the fitting of the parameterized body template in step S3 according to one embodiment of the invention;
FIG. 5 is a flowchart of the method for solving the morphological parameters and pose parameters in step S3 according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a multi-depth camera human body parameter measuring device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a fusion module according to an embodiment of the invention;
FIG. 8 is a block diagram of a fitting module according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method and an apparatus for measuring human body parameters of a multi-depth camera according to an embodiment of the present invention with reference to the accompanying drawings, and first, a method for measuring human body parameters of a multi-depth camera according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a flowchart of a method for measuring parameters of a human body with multiple depth cameras according to an embodiment of the present invention.
As shown in fig. 1, the method for measuring human parameters by using multiple depth cameras comprises the following steps:
in step S1, a current object depth image is acquired;
further, in an embodiment of the present invention, a depth camera is used to collect the current object, so as to obtain a depth image.
Specifically, as shown in fig. 2, the embodiment of the present invention uses a camera support and 16 depth cameras for acquisition, wherein the 16 depth cameras are divided into four groups and then respectively placed at four vertical edges of the camera support, each vertical edge fixes 4 depth cameras at equal distance in the same vertical direction, and the depth cameras face the central axis of the support, so as to acquire the distance (depth) from the current object to each point in the scene as an image of the pixel value until the geometric shape of the current object is reflected. And starting each depth camera to shoot a depth image through the USB interface.
In step S2, the depth images are fused into a regular point cloud.
Further, in an embodiment of the present invention, as shown in fig. 3, the step S2 further includes:
step S201, projecting each pixel in the depth image to a world coordinate system according to the internal parameter and the external parameter of each depth camera;
step S202, reconstructing the coordinates of each pixel in the world coordinate system into regular point cloud by using a Poisson reconstruction algorithm.
Specifically, the calculation formula used in step S201 is:
wherein R is3x3Is the rotation matrix in the outer reference, t is the displacement in the outer reference, f is the camera focal length, (c)x，cy) Is the camera principal point coordinate, (x, y) is the coordinate of the pixel on the image, d is the depth value of the pixel, vwIs the coordinate of each pixel in the world coordinate system. And reconstructing the regular point cloud M by using a Poisson reconstruction algorithm.
In step S3, the morphological parameters and the pose parameters of the parameterized human body template are solved to deform the parameterized human body template and fit the parameterized human body template with the regular point cloud.
It can be understood that the SMPL human body template (parameterized human body template) is fitted, and morphological parameters and posture parameters of the SMPL human body template are solved, so that the SMPL human body template deformed based on the parameters is fitted to the obtained point cloud as much as possible.
Further, as shown in fig. 4, step S3 further includes:
Specifically, as shown in fig. 5, a corresponding point set C is constructed. For each point v 'on the fused point cloud M, finding the corresponding point v on the SMPL human body template, and taking (v, v') as one element in C.
Specifically, the SMPL human body template morphological parameters and the posture parameters are solved according to the minimum energy function E.
Wherein, the energy function is defined on the basis of the corresponding point set as follows:
E＝arg min Edistance+Eregular
wherein E isdistanceTo match the distance constraints of the point pairs, EregularAs a regularizing term for morphological parameters, EsmoothIs a smooth constraint on the pose parameters.
The definition of each energy term is as follows:
Edistance＝∑(v，v′)∈C(v-v′)2
c is a matching point pair set from the point cloud M to the human body model, and v' is a corresponding point on M; beta is amV is a point on the human body model which passes through form change and posture change, and is specifically defined as:
wherein,
for the known variable weight of v to joint j on the SMPL template, TjFor transformation matrices of joints, i.e. attitude parameters of the body to be determined, v0For the coordinates of v under the standard model known on the SMPL template,
the known weight of the change of v to the base m on the SMPL template.
The energy function is obtained by minimizing the distance between corresponding points to obtain a joint transformation matrix Tj(i.e., body attitude parameter) and body morphology parameter betam。
And 303, deforming the parameterized human body template according to the morphological parameters and the posture parameters to obtain the deformed parameterized human body template.
That is, the human posture parameter T is obtainedjAnd a human body morphological parameter betamAnd deforming the SMPL human body template, and returning to the step S301 to construct a corresponding point set C.
And 304, reconstructing a corresponding point set according to the deformed parameterized human body template, and iterating until convergence, so that the parameterized human body template is fitted with the regular point cloud.
That is, step S301, step S302, and step S302 are iterated continuously, and the loop is repeated for a plurality of times until convergence, thereby completing the fitting of the human body template.
In step S4, the body parameters of the current subject are obtained by the body parameter obtaining method defined by the standard parameterized body template.
Further, in one embodiment of the present invention, the standard parameterized body template is a calculation formula that defines each body parameter on the parameterized body template in advance.
That is, a calculation formula of each human body parameter is defined on the SMPL human body template in advance, and then the human body parameter to be measured is directly obtained from the fitted SMPL human body template according to the formula. The following table is defined:
wherein v is414The top point with the sequence number equal to 414 on the SMPL body template, and so on. [. the]xRepresents the distance of two points in the X-axis direction [ ·]yRepresents the distance between two points in the Y-axis direction [ ·]eRepresenting the distance between two points in Europe。
According to the method for measuring the human body parameters of the multi-depth camera provided by the embodiment of the invention, a plurality of human body parameters including height, weight, chest circumference, waist circumference, hip circumference, arm length, leg length and the like can be accurately solved, the cost is low, the method is easy to build, the method is very practical, can be used in various practical applications such as virtual fitting, games and the like, can be suitable for common merchants, and has wide application prospects.
Next, a multi-depth camera human body parameter measuring apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 6 is a schematic structural diagram of a multi-depth camera human body parameter measuring device according to an embodiment of the present invention.
As shown in fig. 6, the multi-depth camera human body parameter measuring apparatus 10 includes: camera support 100, 16 depth cameras 200, fusion module 300, fitting module 400, and measurement module 500.
As shown in fig. 2, the camera support 100 and the 16 depth cameras 200, which are divided into 4 groups and respectively disposed at four vertical edges of the camera support, are used to acquire a current object depth image. Wherein, each vertical edge is fixed with 4 depth cameras at equal distance in the same vertical direction, and the depth cameras face the central axis of the camera support.
The fusion module 300 is used to fuse the depth images into a regular point cloud.
Further, in an embodiment of the present invention, as shown in fig. 7, the fusion module 300 further includes:
the projection unit 301 is configured to project each pixel in the depth image into the world coordinate system according to the internal reference and the external reference of each depth camera:
wherein R is3x3Is the rotation matrix in the outer reference, t is the displacement in the outer reference, f is the camera focal length, (c)x，cy) Is the camera principal point coordinate, (x, y) is the coordinate of the pixel on the image, d is the depth value of the pixel, vwCoordinates in the world coordinate system for each pixel;
the reconstruction unit 302 is configured to reconstruct the regular point cloud using a poisson reconstruction algorithm according to the coordinates of each pixel in the world coordinate system.
The fitting module 400 is configured to solve the morphological parameters and the pose parameters of the parameterized human body template, so as to deform the parameterized human body template and fit the parameterized human body template with the regular point cloud.
Further, in an embodiment of the present invention, as shown in fig. 8, the fitting module 400 further includes:
the construction unit 401 is configured to find points corresponding to the regular point cloud in the parameterized human body template, and construct all corresponding points into a corresponding point set;
the calculating unit 402 is configured to define an energy function according to the corresponding point set, where the energy function is used to obtain a morphological parameter and an attitude parameter by minimizing a distance between corresponding points;
the deformation unit 403 is configured to deform the parameterized human body template according to the morphological parameters and the pose parameters to obtain a deformed parameterized human body template;
the iterative fitting unit 404 is configured to reconstruct a corresponding point set according to the deformed parameterized human body template, and iterate until convergence, so that the parameterized human body template is fitted with the regular point cloud.
The measurement module 500 is used for obtaining the human body parameters of the current object through the human body parameter obtaining mode defined by the standard parameterized human body template.
Further, in one embodiment of the present invention, the standard parameterized body template is a calculation formula that defines each body parameter on the parameterized body template in advance.
It should be noted that the above explanation of the embodiment of the method for measuring human parameters by using multiple depth cameras is also applicable to the device, and is not repeated herein.
The multi-depth camera human body parameter measuring device provided by the embodiment of the invention can accurately solve a plurality of human body parameters including height, weight, chest circumference, waist circumference, hip circumference, arm length, leg length and the like, has low cost, is easy to build, is very practical, can be used in various practical applications such as virtual fitting, games and the like, can be suitable for common merchants, and has wide application prospects.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A multi-depth camera human body parameter measuring method is characterized by comprising the following steps:
acquiring a depth image of a current object;
fusing the depth images into regular point clouds, which specifically comprises: projecting each pixel in the depth image to a world coordinate system according to the internal and external parameters of each depth camera; reconstructing the coordinates of each pixel in the world coordinate system into a regular point cloud by using a Poisson reconstruction algorithm;
solving the morphological parameters and the attitude parameters of the parameterized human body template to deform the parameterized human body template, and fitting the parameterized human body template with the regular point cloud, specifically comprising the following steps: finding out points corresponding to the regular point cloud in the parameterized human body template, and constructing all corresponding points into a corresponding point set; defining an energy function according to the corresponding point set, wherein the energy function is used for solving the morphological parameters and the attitude parameters by minimizing the distance between corresponding points; deforming the parameterized human body template according to the morphological parameters and the posture parameters to obtain a deformed parameterized human body template; reconstructing the corresponding point set according to the deformed parameterized human body template, and iterating until convergence so as to fit the parameterized human body template with the regular point cloud;
acquiring the human body parameters of the current object in a human body parameter acquisition mode defined by a standard parameterized human body template;
wherein the energy function is: e ═ arg min Edistance+Eregular(ii) a Wherein E isdistanceTo match the distance constraints of the point pairs, Edistance＝∑(v，v′)∈C(v-v′)2；EregularIs a regular term of the morphological parameter,
m is a regular point cloud, and C is a matching point pair set or a corresponding point set from M to the parameterized human body template; v' is the corresponding point on M; beta is amAnd v is a point which passes through form change and posture change on the parameterized human body model.
2. The method of claim 1, wherein the current object is acquired using a depth camera, resulting in the depth image.
3. The method of claim 1, wherein the standard parameterized body template is a calculation formula that defines each body parameter on the parameterized body template in advance.
4. A multi-depth camera human body parameter measuring device is characterized by comprising:
the system comprises a camera support and 16 depth cameras, wherein the depth cameras are divided into 4 groups and are respectively placed at four vertical edges of the camera support and used for acquiring a current object depth image;
a fusion module for fusing the depth image into a regular point cloud, wherein the fusion module further comprises:
a projection unit projecting each pixel in the depth image to a world coordinate system according to the internal reference and the external reference of each depth camera; the reconstruction unit is used for reconstructing the coordinates of each pixel in the world coordinate system into a regular point cloud by using a Poisson reconstruction algorithm;
a fitting module for solving the morphological parameters and the attitude parameters of the parameterized human body template to deform the parameterized human body template and fitting the parameterized human body template with the regular point cloud, wherein the fitting module further comprises: the building unit is used for finding out points corresponding to the regular point cloud in the parameterized human body template and building all corresponding points into a corresponding point set; a calculation unit, configured to define an energy function according to the corresponding point set, where the energy function is used to obtain the morphological parameter and the pose parameter by minimizing a distance between corresponding points; the deformation unit is used for deforming the parameterized human body template according to the morphological parameters and the posture parameters to obtain a deformed parameterized human body template; the iteration fitting unit is used for reconstructing the corresponding point set according to the deformed parameterized human body template, and iterating until convergence so as to fit the parameterized human body template with the regular point cloud;
the measuring module is used for acquiring the human body parameters of the current object in a human body parameter acquisition mode defined by a standard parameterized human body template;
wherein the energy function is: e ═ arg min Edistance+Eregular(ii) a Wherein E isdistanceTo match the distance constraints of the point pairs, Edistance＝∑(v，v′)∈C(v-v′)2；EregularIs a regular term of the morphological parameter,
m is a regular point cloud, and C is a matching point pair set or a corresponding point set from M to the parameterized human body template; v' is the corresponding point on M; beta is amAnd v is a point which passes through form change and posture change on the parameterized human body model.
5. The apparatus of claim 4, wherein each vertical edge of the camera mount holds 4 depth cameras at equal distances in the same vertical direction, with the depth cameras facing the central axis of the camera mount.
6. The apparatus of claim 4, wherein the standard parameterized body template is a calculation formula that defines each body parameter on the parameterized body template in advance.
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