CN113284169A - Human body walking mark point analysis method and device and electronic equipment - Google Patents
Human body walking mark point analysis method and device and electronic equipment Download PDFInfo
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Abstract
The invention provides a human body walking mark point analysis method, belongs to the technical field of motion capture data acquisition, and solves the problems of complicated equipment, complicated experimental environment and difficult operation of the motion capture data acquisition method in the prior art. The method comprises the following steps: acquiring a picture of human walking; establishing a coordinate system according to the picture; acquiring a plurality of mark points in the picture, and converting the positions of the mark points into coordinates in the coordinate system; calculating the coordinate distance of two preset positioning mark points in a coordinate system, and calculating the actual distance of the plurality of mark points according to the coordinate distance; calculating an included angle between a connecting line of the marking points and the vertical direction according to the coordinates of the marking points; and calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
Description
Technical Field
The invention relates to the technical field of motion capture data acquisition, in particular to a human body walking mark point analysis method and device, electronic equipment and a storage medium.
Background
The motion capture technology is a high and new technology for accurately measuring and recording the motion track or posture of an object in real space in real time and reconstructing the motion state of the moving object at each moment in a virtual three-dimensional space. The most typical application of the motion capture technology is to capture the motion of a person, digitally solve the motion dynamics of the limbs of the person and obtain corresponding data for performing kinematic analysis, and vividly simulate and reproduce various complex motions and expressions of the person. Currently, the commonly used motion capture techniques are mainly classified into inertial capture and optical capture.
The inertial capture mainly utilizes IMU, acceleration sensor and the like to measure pose, direction, acceleration and other information during motion, and establishes a vivid motion model after data correction and processing. The motion parameters measured by the sensors have serious noise interference, zero offset and drift, and the inertial motion capture system cannot accurately capture the human body posture for a long time. In an optical-based motion capture system, however, it is common to stick mark points (active and passive) at key joints of the human body and then walk in a limited spatial range. Meanwhile, the equipped camera can carry out high-speed shooting and system tracking on the mark points in the walking process, and obtain the motion trail of walking and other complex actions. While this non-contact measurement technique is relatively accurate, there are some inherent problems: such systems are relatively expensive, difficult to operate, and require specialized motion capture laboratories to perform the experiments.
Disclosure of Invention
The invention aims to provide a method and a device for analyzing human body walking mark points, electronic equipment and a storage medium, and solves the technical problems of complicated equipment, complicated experimental environment and difficult operation of a motion capture data acquisition method in the prior art.
In a first aspect, the method for analyzing the human body walking mark points provided by the invention comprises the following steps:
acquiring a picture of human walking;
establishing a coordinate system according to the picture;
acquiring a plurality of mark points in the picture, and converting the positions of the mark points into coordinates in the coordinate system;
calculating the coordinate distance of two preset positioning mark points in a coordinate system, and calculating the actual distance of the plurality of mark points according to the coordinate distance;
calculating an included angle between a connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
and calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
Further, before the step of obtaining the image of the walking of the human body, the method further comprises:
setting an experimental environment;
the brightness of the experimental environment is lower than a preset threshold value, the high-speed camera is used for fixing a focus lens, the fixing focus lens is kept horizontal and perpendicular to a framing area, and the fixing focus lens is connected to the processing center.
Further, after the step of setting the experimental environment, the method further includes:
and arranging a plurality of mark points at preset positions of the experimental object.
Further, after the step of setting the marker at the preset position of the experimental subject, the method further includes:
selecting any two mark points from the plurality of mark points as positioning mark points;
and acquiring the actual distance between the two mark points.
Further, the step of calculating the coordinate distance of the two preset positioning mark points in the coordinate system and calculating the actual distance of the plurality of mark points according to the coordinate distance specifically comprises:
calculating the coordinate distance of two preset positioning mark points in a coordinate system;
calculating the scaling of a coordinate system according to the coordinate distance of the two preset mark points and the actual distance;
and calculating the actual distances of the plurality of marking points according to the scaling.
Further, after the step of calculating the actual moving distances of the plurality of marker points according to the scaling, the method further includes:
and performing linear interpolation according to the coordinates of the mark points, and supplementing coordinate data shielded by the experimental target in the moving process.
Further, after the step of performing linear interpolation according to the coordinates of the mark points and supplementing the coordinate data blocked by the experimental target during movement, the method further includes:
the data is noise cancelled.
In a second aspect, the present invention further provides an analysis device for human body walking mark points, including:
the picture capturing module is used for acquiring pictures of human body walking;
the coordinate system generating module is used for establishing a coordinate system according to the picture;
the coordinate conversion module is used for acquiring a plurality of mark points in the picture and converting the positions of the mark points into coordinates in the coordinate system;
the proportion calculation module is used for calculating the coordinate distance of two preset positioning mark points in a coordinate system and calculating the actual distance of the plurality of mark points according to the coordinate distance;
the distance calculation module is used for calculating the actual moving distance of the plurality of marking points according to the scaling;
the included angle calculation module is used for calculating the included angle between the connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
and the speed calculation module is used for calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
In a third aspect, the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to carry out the method described above.
According to the human body walking mark point analysis method provided by the invention, after the pictures of the human body walking are obtained, the pictures are processed, a coordinate system is established according to the pictures, the coordinate distance of the mark points in the pictures is calculated, the actual moving distance is calculated according to the coordinate distance, and finally the included angle between the connecting line of each mark point and the vertical direction and the moving distance of the mark point are calculated according to the coordinates and the actual moving distance, so that the motion trail capture of the mark points is completed.
Accordingly, the human body walking mark point analysis device, the electronic device and the computer-readable storage medium provided by the embodiment of the invention also have the technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a method for analyzing a human walking mark point according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps for calculating actual distances of a plurality of marked points according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an experimental environment and configuration provided by an embodiment of the present invention;
FIG. 4 is a diagram of the motion trajectories of the mass center of the human body, the shoulder joint of the upper limb, the elbow joint and the hand joint of the upper limb in the picture coordinate system provided by the embodiment of the invention;
FIG. 5 is a schematic view of a variation curve of angles of joints of an upper limb according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a velocity curve of a joint marker point according to an embodiment of the present invention;
fig. 7 is a schematic view of an analysis apparatus for human body walking mark points according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprising" and "having," and any variations thereof, as referred to in embodiments of the present invention, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, an embodiment of the present invention provides a method for analyzing a human body walking mark point, including the following steps:
s11: acquiring a picture of human walking;
s12: establishing a coordinate system according to the picture;
s13: acquiring a plurality of mark points in the picture, and converting the positions of the mark points into coordinates in the coordinate system;
s14: calculating the coordinate distance of two preset positioning mark points in a coordinate system, and calculating the actual distance of the plurality of mark points according to the coordinate distance;
s15: calculating an included angle between a connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
s16: and calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
According to the human body walking mark point analysis method provided by the embodiment of the invention, after the pictures of the human body walking are obtained, the pictures are processed, a coordinate system is established according to the pictures, the coordinate distance of the mark points in the pictures is calculated, the actual moving distance is calculated according to the coordinate distance, and finally the included angle between the connecting line of each mark point and the vertical direction and the moving distance of the mark point are calculated according to the coordinates and the actual moving distance, so that the motion trail capture of the mark points is completed.
In a possible implementation manner, before the step of obtaining the picture of the human walking, the method further includes:
s101: setting an experimental environment;
the brightness of the experimental environment is lower than a preset threshold value, the high-speed camera is used for fixing a focus lens, the fixing focus lens is kept horizontal and perpendicular to a framing area, and the fixing focus lens is connected to the processing center.
Through setting up the experimental environment, guarantee that ambient brightness is lower, guarantee that the mark point on the experimenter health can be caught easily.
In a possible implementation manner, after the step of setting the experimental environment, the method further includes:
s102: and arranging a plurality of mark points at preset positions of the experimental object.
By setting the mark points, the camera can capture the motion trail of the experimenter.
In a possible embodiment, after the step of setting the marker at the preset position of the experimental subject, the method further includes:
s103: selecting any two mark points from the plurality of mark points as positioning mark points;
s104: and acquiring the actual distance between the two mark points.
By setting the positioning mark points, the scaling of the coordinate system in the picture can be calculated according to the positioning mark points after the picture is obtained.
As shown in fig. 2, in a possible implementation, the step of calculating a coordinate distance of two preset positioning mark points in a coordinate system, and calculating an actual distance of a plurality of mark points according to the coordinate distance specifically includes:
s241: calculating the coordinate distance of two preset positioning mark points in a coordinate system;
s242: calculating the scaling of a coordinate system according to the coordinate distance of the two preset mark points and the actual distance;
s243: and calculating the actual distances of the plurality of marking points according to the scaling.
Through the steps, the actual movement distance and the position of each marking point can be calculated.
In a possible implementation manner, after the step of calculating the actual moving distances of the plurality of marked points according to the scaling ratio, the method further includes:
s244: and performing linear interpolation according to the coordinates of the mark points, and supplementing coordinate data shielded by the experimental target in the moving process.
In the process of movement of the experimenter, due to the swing of each joint, the track of a part of marking points can be shielded, and the completion is needed.
In a possible implementation manner, after the step of performing linear interpolation according to the coordinates of the marker points and supplementing the coordinate data occluded by the experimental target during movement, the method further includes:
s245: the data is noise cancelled.
In the captured picture, there may be some skip point noises, which do not meet the actual motion rule and actual requirement, and need to be eliminated.
The embodiment of the invention provides a method for analyzing human body walking mark points, which comprises the following specific implementation modes:
the indoor experimental environment is arranged firstly, and the brightness of the lamplight is adjusted to ensure that the indoor environment is in a relatively dark state, so that the mark points can be captured conveniently. Meanwhile, the indoor light is ensured to be uniform, and no locally too prominent reflecting point exists.
As shown in fig. 3, firstly, a high-speed camera fixed-focus lens is installed, and the high-speed camera is arranged on a tripod to keep the horizontal state of the whole device; adjusting the height of the triangular feet and setting the height of a camera lens to be 90cm, so as to ensure that the walking process of the experimental object can be completely recorded by the high-speed camera; meanwhile, the camera lens is always kept to face the experimental object vertically; after the camera lens and the tripod are fixed, the scene taking frame is fixed and does not move any more.
Focusing of a camera lens and adjustment of the size of an aperture are carried out, so that a subject can be ensured to be imaged clearly; calculating the longest distance which can be captured by the camera in the horizontal direction to be 5.1m according to the distance (4.34m) between the high-speed camera and the subject and the horizontal visual angle (60 degrees) of the lens, and taking the longest distance as the starting point and the ending point of the walking road; the photos collected by the high-speed camera are transmitted to the computer software end in real time through the USB 3.0 connecting line.
The active marker point selected by the invention is a white normally-on small lamp with the diameter of 94 mm. Fixing key joints of a human body to be marked by using an elastic binding belt, and sticking a mark point on the elastic binding belt; according to the physical characteristics of each testee, the elastic bandage is adjusted to be in a tight state, and the elastic bandage is prevented from moving up and down due to vibration in the walking process.
Clicking a continuous save key of the upper computer software and starting timing. Meanwhile, the testee will be lateral to the wall to walk (the walking direction is the x-axis direction) parallel to the wall all the time at normal pace speed, and the whole walking process is kept as natural and relaxed as possible. When the hand mark point is about to swing out of the viewing frame, the experimental subject stops walking, and presses the 'stop save' button, so that the capture of the whole walking process is finished.
Since the high-speed camera acquires black and white pictures and the shooting environment is relatively dim, the images of the parts except the mark points are relatively dim. In order to restore the walking process more clearly, before extracting the coordinates of the key joint points, an important link is to adopt an exposure module in a sketch library to perform proper exposure processing on the acquired high-speed photos.
Opening picture data acquired by a camera by utilizing Matplotlib, and establishing a corresponding coordinate system for the picture by utilizing the Matplotlib in an equal proportion according to the actual distance; and then capturing the brightest point, namely the luminous mark point by using a CVminmaxLoc function in the OpenCV library, and outputting the mark point coordinate in the picture coordinate system.
Before the experiment starts, the actual distance between any two marked points is measured as l. And after the OpenCV finishes processing the picture, obtaining that the coordinate distance of the two mark points is l ', and recording the conversion ratio of the coordinate distance to the actual distance as l/l'. In an experimental scenario in which the present invention is applied, a conversion relationship between a picture coordinate distance (coordinate unit) and an actual distance (m) is about 1: 0.002647; the actual distance of movement of the same marking point in adjacent time can be converted by the ratio.
The data loss mainly occurs when the walking movement is performed, and the mass center mark points are shielded by the swinging of the hand joints. The data loss rate caused by occlusion in a complete walking cycle is about 5% -8%.
As the lost points exist in a single small batch in the motion process, and the motion amplitude of the human body in one sampling period is very small. Therefore, lagrange linear interpolation is used to compensate for data loss.
In the interval [ a, b]The function of (c) at n +1 different points fiHas a value of yi＝f(xi) (i ═ 0,1,2,. and n), there is an nth order polynomial that satisfies the interpolation condition:
wherein the content of the first and second substances,
linear interpolation, i.e. when n is equal to 1, includes:
after the motion trail of the key joint mark point is subjected to the linear interpolation, the continuity requirement is ensured, and conditions are provided for subsequent sample parameter extraction, sample matching and the like.
The motion tracks of the mass center, the shoulder joint, the elbow joint and the hand joint of the subject during walking are depicted, as shown in fig. 4.
The joint mark points tracking based on the high-speed camera can capture human joint mark points, the data are applied to human walking kinematics research, and certain noise appears when the speed and the angular speed are calculated according to the marked joint coordinate points in actual application, so that an important step is to perform noise removal on the data according to the speed data; in order to eliminate Gaussian white noise formed by interference generated by calculation of speed and angular velocity due to instability of a system in practical application, the method adopts a Kalman filtering method to process data.
Centroid, joint point coordinate (x) based on extractionCOM,yCOM)，(xshoulder,yshoulder)，(xelbow,yelbow) And (x)hand,yhand) The angle between the coordinate line of the corresponding joint point and the vertical direction can be calculated according to the arctangent function, as shown in fig. 5, and the calculation method is as follows:
based on the calculated actual distance difference between the same mark point of the two adjacent photos (n is the total number of the high-speed photos taken in the walking process), the movement speed of the mark point in the horizontal direction and the vertical direction under the time coordinate can be calculated according to the interval time of the two adjacent high-speed photos, as shown in fig. 6.
As shown in fig. 7, an embodiment of the present invention further provides a human body walking mark point analysis device, including:
the picture capturing module 1 is used for acquiring pictures of human body walking;
the coordinate system generating module 2 is used for establishing a coordinate system according to the picture;
the coordinate conversion module 3 is used for acquiring a plurality of mark points in the picture and converting the positions of the mark points into coordinates in the coordinate system;
the proportion calculation module 4 is used for calculating the coordinate distance of two preset positioning mark points in a coordinate system and calculating the actual distance of the plurality of mark points according to the coordinate distance;
the included angle calculating module 5 is used for calculating the included angle between the connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
and the speed calculation module 6 is used for calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
Corresponding to the method, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method when executing the computer program.
In accordance with the above method, embodiments of the present invention also provide a computer readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to perform the steps of the above method.
The apparatus provided by the embodiment of the present invention may be specific hardware on the device, or software or firmware installed on the device, etc. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
For another example, the division of the unit is only one division of logical functions, and there may be other divisions in actual implementation, and for another example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; and the modifications, changes or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for analyzing human body walking mark points is characterized by comprising the following steps:
acquiring a picture of human walking;
establishing a coordinate system according to the picture;
acquiring a plurality of mark points in the picture, and converting the positions of the mark points into coordinates in the coordinate system;
calculating the coordinate distance of two preset positioning mark points in a coordinate system, and calculating the actual distance of the plurality of mark points according to the coordinate distance;
calculating an included angle between a connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
and calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
2. The method for analyzing human walking mark points according to claim 1, wherein before the step of obtaining the image of human walking, the method further comprises:
setting an experimental environment;
the brightness of the experimental environment is lower than a preset threshold value, the high-speed camera is used for fixing a focus lens, the fixing focus lens is kept horizontal and perpendicular to a framing area, and the fixing focus lens is connected to the processing center.
3. The method for analyzing the human body walking mark points according to claim 2, further comprising, after the step of setting the experimental environment:
and arranging a plurality of mark points at preset positions of the experimental object.
4. The human body walking mark point analysis method according to claim 3, wherein after the step of setting the mark point at the preset position of the experimental subject, the method further comprises:
selecting any two mark points from the plurality of mark points as positioning mark points;
and acquiring the actual distance between the two mark points.
5. The method for analyzing the human body walking mark points according to claim 4, wherein the step of calculating the coordinate distance of two preset positioning mark points in the coordinate system and calculating the actual distance of the plurality of mark points according to the coordinate distance specifically comprises the steps of:
calculating the coordinate distance of two preset positioning mark points in a coordinate system;
calculating the scaling of a coordinate system according to the coordinate distance of the two preset mark points and the actual distance;
and calculating the actual distances of the plurality of marking points according to the scaling.
6. The method for analyzing human body walking marker points according to claim 1, wherein after the step of calculating the actual moving distance of the plurality of marker points according to the scaling, the method further comprises:
and performing linear interpolation according to the coordinates of the mark points, and supplementing coordinate data shielded by the experimental target in the moving process.
7. The method for analyzing the human body walking mark points according to claim 6, wherein after the step of performing linear interpolation according to the mark point coordinates and supplementing the coordinate data blocked by the experimental target during the movement, the method further comprises the following steps:
the data is noise cancelled.
8. A human walking mark point analysis device is characterized by comprising:
the picture capturing module is used for acquiring pictures of human body walking;
the coordinate system generating module is used for establishing a coordinate system according to the picture;
the coordinate conversion module is used for acquiring a plurality of mark points in the picture and converting the positions of the mark points into coordinates in the coordinate system;
the proportion calculation module is used for calculating the coordinate distance of two preset positioning mark points in a coordinate system and calculating the actual distance of the plurality of mark points according to the coordinate distance;
the included angle calculation module is used for calculating the included angle between the connecting line of the marking points and the vertical direction according to the coordinates of the marking points;
and the speed calculation module is used for calculating the movement speeds of the marking points in the horizontal direction and the vertical direction according to the actual distance.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 7.
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