WO2021218727A1 - 限制相机搜索范围的方法、装置、设备及存储介质 - Google Patents

限制相机搜索范围的方法、装置、设备及存储介质 Download PDF

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Publication number
WO2021218727A1
WO2021218727A1 PCT/CN2021/088595 CN2021088595W WO2021218727A1 WO 2021218727 A1 WO2021218727 A1 WO 2021218727A1 CN 2021088595 W CN2021088595 W CN 2021088595W WO 2021218727 A1 WO2021218727 A1 WO 2021218727A1
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WIPO (PCT)
Prior art keywords
camera
horizontal angle
angle
search range
horizontal
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PCT/CN2021/088595
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English (en)
French (fr)
Inventor
洪智慧
许秋子
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深圳市瑞立视多媒体科技有限公司
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Publication of WO2021218727A1 publication Critical patent/WO2021218727A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the present invention relates to the field of motion capture, and in particular to a method, device, equipment and storage medium for limiting the search range of a camera.
  • the optical motion capture system is based on a series of optical cameras installed at different positions and angles, and relies on computer vision principle technology to track the optical positioning mark points at high speed and precision to complete the capture of the body's whole body motion.
  • the main purpose of the present invention is to solve the problem that it is relatively time-consuming to use a camera search range between 0 and 360 degrees to perform motion capture, which results in low calculation efficiency of the optical motion capture system.
  • the first aspect of the present invention provides a method for limiting the search range of a camera, including: obtaining a top view of an optical motion capture scene, the top view including an outer frame and an inner frame, the outer frame and the inner frame respectively It is used to indicate the truss and the performer's movement area, the performer's movement area is located in the truss; the xy plane coordinate system is established based on the top view, and the target camera is set on the outer box in the xy plane coordinate system Position point; obtain two vertices from the inner box in the xy plane coordinate system, and calculate the positive included angle of the x-axis according to the position points of the two vertices and the target camera to obtain the first included angle Value and the second included angle value, the first included angle value is greater than the second included angle value; the horizontal field of view of the target camera is acquired, and the horizontal field of view of the target camera, the first included angle The angle value and the second included angle value calculate the first camera horizontal angle and the second camera horizontal angle.
  • Both the first camera horizontal angle and the second camera horizontal angle are used to indicate the distance from the x-axis to the camera centerline.
  • Horizontal direction angle when the first camera horizontal angle is greater than the second camera horizontal angle, the search range of the target camera is set to be greater than or equal to the second camera horizontal angle and less than or equal to the first camera Horizontal angle; when the horizontal angle of the first camera is less than or equal to the horizontal angle of the second camera, the search range of the target camera is determined according to a preset formula.
  • the xy plane coordinate system is established based on the top view, and the position of the target camera is set on the outer box in the xy plane coordinate system , Including: determining the vertex of the lower left corner of the outer frame from the top view, and setting the vertex of the lower left corner of the outer frame as the coordinate origin to establish an xy plane coordinate system; obtaining the actual position information of the target camera, and The actual position information of the target camera is converted to the outer frame in the xy plane coordinate system to obtain the position point of the target camera.
  • the two vertices are obtained from the inner frame in the xy plane coordinate system, and the two vertices and the target camera Calculate the positive included angle of the x-axis at the position point to obtain the first included angle value and the second included angle value.
  • the first included angle value is greater than the second included angle value, including: from the xy plane coordinate system Obtain two vertices on the inner box in the box, and connect the position point of the target camera with the two vertices respectively to obtain two connecting line segments, each connecting line segment has and only has the inner box An intersection point; the positive x-axis in the xy plane coordinate system is set as the reference line, and the angle between the two connecting line segments and the reference line is calculated according to the cosine function formula to obtain the first angle value And the second included angle value, the first included angle value is greater than the second included angle value.
  • the acquisition of the horizontal field of view of the target camera is performed according to the horizontal field of view of the target camera, the first included angle value and the The second included angle value calculates the first camera horizontal angle and the second camera horizontal angle, and both the first camera horizontal angle and the second camera horizontal angle are used to indicate the horizontal direction angle from the x-axis to the camera center line, It includes: obtaining the horizontal field of view of the target camera, and dividing the horizontal field of view of the target camera by 2 to obtain the half field of view; subtracting the value of the first included angle and the half field of view , Obtain the first camera horizontal angle; add the second included angle value and the half field of view angle to obtain the second camera horizontal angle, the first camera horizontal angle and the second camera horizontal angle are both Used to indicate the horizontal angle from the x-axis to the center line of the camera.
  • the search range of the target camera is determined according to a preset formula , Including: when the first camera horizontal angle ⁇ 1 is smaller than the second camera horizontal angle ⁇ 2 , determining the search range ⁇ of the target camera according to a preset formula, the preset formula being:
  • the top view in the obtaining a top view of the optical motion capture scene, includes an outer box and an inner box, and the outer box and the inner box
  • the boxes are respectively used to indicate the truss and the performer's movement area, the performer's movement area is located in front of the truss
  • the method for limiting the camera search range further includes: according to the actual scene of the truss and the performer's movement
  • the area draws a top view of the optical motion capture scene
  • the truss and the performer motion area are centrally symmetrical outer boxes and inner boxes in the top view of the optical motion capture scene, and the inner boxes are placed Inside the outer box.
  • a second aspect of the present invention provides an apparatus for limiting the search range of a camera, including: an acquisition module for acquiring a top view of an optical motion capture scene, the top view including an outer frame and an inner frame, the outer frame and the The inner boxes are respectively used to indicate the truss and the performer's movement area, the performer's movement area is located in the truss; the establishment module is used to establish an xy plane coordinate system based on the top view, and in the xy plane coordinate system The position point of the target camera is set on the outer box in the middle; the first calculation module is used to obtain two vertices from the inner box in the xy plane coordinate system, and according to the two vertices and the target camera Calculate the positive included angle of the x-axis at the position point to obtain a first included angle value and a second included angle value.
  • the first included angle value is greater than the second included angle value
  • the second calculation module is used to obtain the target The horizontal field of view of the camera, and calculate the first camera horizontal angle and the second camera horizontal angle according to the horizontal field of view of the target camera, the first angle value and the second angle value, the first A camera horizontal angle and the second camera horizontal angle are both used to indicate the horizontal angle from the x-axis to the camera centerline;
  • the setting module when the first camera horizontal angle is greater than the second camera horizontal angle, use For setting the search range of the target camera to be greater than or equal to the second camera horizontal angle and less than or equal to the first camera horizontal angle;
  • the determining module when the first camera horizontal angle is less than or equal to the second camera horizontal angle;
  • the camera is horizontal, it is used to determine the search range of the target camera according to a preset formula.
  • the establishing module is specifically configured to: determine the vertex of the lower left corner of the outer frame from the top view, and set the lower left corner of the outer frame The vertex is set as the origin of the coordinates, and an xy plane coordinate system is established; the actual position information of the target camera is acquired, and the actual position information of the target camera is converted to the outer frame in the xy plane coordinate system to obtain the position point of the target camera .
  • the first calculation module is specifically configured to: obtain two vertices from the inner frame in the xy plane coordinate system, and compare the The position points of the target camera are respectively connected with the two vertices to obtain two connecting line segments, each connecting line segment has one and only one intersection with the inner box, and the two vertices are adjacent vertices or opposite vertices ; Set the positive x-axis in the xy plane coordinate system as the reference line, and calculate the angles between the two connecting line segments and the reference line according to the cosine function formula to obtain the first angle value and the first angle value Two included angle values, the first included angle value is greater than the second included angle value.
  • the second calculation module is specifically configured to: obtain the horizontal field of view angle of the target camera, and divide the horizontal field of view angle of the target camera by 2. Obtain the half angle of view; perform subtraction calculations on the first included angle value and the half angle of view to obtain the first camera horizontal angle; perform calculation on the second included angle value and the half angle of view The addition calculation obtains the second camera horizontal angle, and both the first camera horizontal angle and the second camera horizontal angle are used to indicate the horizontal direction angle from the x-axis to the camera center line.
  • the determining module is specifically configured to: when the first camera horizontal angle ⁇ 1 is less than the second camera horizontal angle ⁇ 2 , according to a preset
  • the preset formula determines the search range ⁇ of the target camera, and the preset formula is:
  • the device for limiting the search range of a camera further includes: a drawing module that draws the optical system according to the truss and the performer's motion area in the actual scene.
  • a top view of the motion capture scene, the truss and the performer's motion area are centrally symmetric outer and inner boxes in the top view of the optical motion capture scene, and the inner box is placed on the outer box Inside.
  • a third aspect of the present invention provides a device for limiting the search range of a camera, including: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected by wires; At least one processor invokes the instructions in the memory, so that the device that restricts the camera search range executes the above-mentioned method for restricting the camera search range.
  • a fourth aspect of the present invention provides a computer-readable storage medium having instructions stored in the computer-readable storage medium, which when run on a computer, cause the computer to execute the above-mentioned method for limiting the search range of a camera.
  • a top view of an optical motion capture scene is obtained, the top view includes an outer box and an inner box, and the outer box and the inner box are respectively used to indicate the truss and the performer's movement area, The performer's movement area is located in the truss; an xy plane coordinate system is established based on the top view, and the position of the target camera is set on the outer box in the xy plane coordinate system; from the xy plane coordinate system Obtain two vertices on the inner box in, and calculate the positive included angle of the x-axis according to the position of the two vertices and the target camera to obtain the first included angle value and the second included angle value.
  • the first included angle value is greater than the second included angle value; the horizontal field of view angle of the target camera is acquired, and the horizontal field of view angle of the target camera, the first included angle value and the second included angle value are obtained
  • the camera is used to cover and search the performance motion area to realize the tracking and motion capture of the target object, and at the same time according to the position of the camera and the performance motion area Determine and limit the search range of the camera, that is, determine the alignment direction and rotation range of the camera center line, avoid searching other areas, reduce the amount of calculation, and improve the search speed and capture efficiency.
  • FIG. 1 is a schematic diagram of an embodiment of a method for limiting the search range of a camera in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the camera capture range in an optical motion capture scene in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of another embodiment of a method for limiting the search range of a camera in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an embodiment of a device for limiting the search range of a camera in an embodiment of the present invention
  • FIG. 5 is a schematic diagram of another embodiment of a device for limiting the search range of a camera in an embodiment of the present invention
  • Fig. 6 is a schematic diagram of an embodiment of a device for limiting the search range of a camera in an embodiment of the present invention.
  • the embodiment of the present invention provides a method, device, equipment and storage medium for limiting the search range of a camera, which are used to implement a coverage search of the performance movement area by using the camera to arrange the camera on a truss in an optical motion capture scene. Tracking and motion capture of target objects.
  • An embodiment of the method for limiting the search range of a camera in the embodiment of the present invention includes:
  • the top view includes an outer box and an inner box.
  • the outer box and the inner box are respectively used to indicate the truss and the performer's movement area, and the performer's movement area is located in the truss.
  • the optical motion capture scene monitors and tracks the target object in the performer's motion area through a camera pre-deployed on the truss, thereby completing the task of motion capture.
  • most common optical motion capture is based on the principles of computer vision.
  • the top view of the optical motion capture scene includes the projection of the truss and the projection of the performer’s motion area.
  • the boxes are symmetrical at the center.
  • the truss can be a single-layer truss, a two-layer truss or a multi-layer truss.
  • the height of each layer of the truss is different, but they are all projected into the same outer box in the top view of the optical motion capture scene, for example, a single-layer truss
  • the length and width are 6 meters and 5 meters respectively, and the aspect ratio of the corresponding outer box is also 6:5, and the unit is meters.
  • the execution subject of the present invention may be a device that limits the search range of the camera, or may be a terminal or a server, which is not specifically limited here.
  • the embodiment of the present invention is described by taking the server as the execution subject as an example.
  • the target camera is installed in a truss with a corresponding number of layers, and the truss can be a single-layer truss, which is not specifically limited here.
  • the server generates an xy plane coordinate system based on the top view.
  • the xy plane coordinate system includes a coordinate origin, an x axis, and a y axis.
  • the coordinate origin can be set at any vertex in the outer box, or can be set at the center symmetry point in the top view.
  • the server obtains the central symmetry point of the inner box; the server sets the central symmetry point of the inner box as the coordinate origin O, and establishes the xy plane coordinates based on the coordinate origin O; the server collects the actual target camera Position information, and convert the actual position information of the target camera to the outer box in the xy plane coordinate system to obtain the position point of the target camera.
  • the actual position information of the target camera acquired by the server is (2, 3, 4), and the coordinate information corresponding to the position point of the target camera after conversion is (2, 0).
  • the server obtains two vertices from the inner box in the x-y plane coordinate system, and the two vertices are adjacent vertices or opposite vertices.
  • the server connects the two vertices with the location points of the target camera to obtain a fan-shaped area.
  • the fan-shaped area is used to indicate the horizontal capture range of the camera. That is, the target camera can shoot and cover the performer's movement area. Therefore, the fan-shaped area limits The left and right boundary lines of the target camera cannot exceed the motion area.
  • the position point a of the target camera is connected with the two opposite vertices B and C on the inner box to obtain a connecting line segment L1 and a connecting line segment L2, where the two opposite vertices B and C are respectively
  • the upper left vertex of the inner box and the lower right vertex of the inner box, the connecting line segment L1 and the connecting line segment L2 form a fan-shaped area, the left boundary line of the target camera's motion capture range cannot exceed the connecting line segment L1, and the right side of the target camera's motion capture range The boundary line cannot exceed the connecting line segment L1.
  • the server calculates the positive included angles between the two sides of the sector area and the x-axis to obtain the first included angle value and the second included angle value.
  • the first included angle value is greater than the second included angle value, for example, the first included angle value is greater than the second included angle value.
  • the included angle value is 80.6 degrees
  • the second included angle value is 54.3 degrees.
  • the calculated first included angle value is 123.6 degrees
  • the second included angle value is 67.3 degrees.
  • the search range is the direction and range in which the camera centerline can be aligned
  • the first camera horizontal angle and the second camera horizontal angle are both used to indicate the horizontal direction angle from the x-axis to the camera centerline
  • the server limits the search range of the target camera , Which is to limit the direction and range in which the center line of the target camera can be aligned.
  • the server Since the first included angle value is greater than the second included angle value, the server obtains the horizontal field of view of the target camera; the server subtracts one-half of the horizontal field of view from the first included angle value to obtain the first camera horizontal angle ; The server adds one-half of the horizontal angle of view to the first included angle to obtain the second camera horizontal angle; the server determines the angle range between the first camera horizontal angle and the second camera horizontal angle as the search for the target camera Scope.
  • the horizontal field of view of the camera is FOVX
  • the point a on the outer box in the top view is the position of the target camera
  • the left boundary (or extension line) of the capture range of the target camera a is the upper left of the inner box
  • the horizontal angle of the first camera is ⁇ 1
  • the right boundary (or extended line) is recorded at the lower right corner of the inner box
  • the horizontal angle of the second camera is ⁇ 2 .
  • the server determines whether the first camera horizontal angle is greater than the second camera horizontal angle; if the first camera horizontal angle is less than or equal to the second camera horizontal angle, the server executes step 106; if the first camera horizontal angle is greater than the second camera horizontal angle Corner, the server executes step 105.
  • the camera horizontal angle range ⁇ 1 ⁇ 2 is the search direction of the target camera (the search range of the camera horizontal angle CameraH)
  • the search range of the target camera It is between 45.6 degrees and 112.5 degrees, that is, the search range of the target camera is greater than or equal to 45.6 degrees and less than or equal to 112.5 degrees.
  • the camera center line of the target camera can be moved between 45.6 degrees and 112.5 degrees.
  • the search range of the target camera is determined according to the preset formula That is, at this time, directly set the horizontal direction angle of the camera center line to a certain value, and the direction of the camera horizontal angle CameraH and The calculated angle directions are consistent.
  • the camera is used to cover and search the performance motion area to realize the tracking and motion capture of the target object, and at the same time according to the position of the camera and the performance motion area Determine and limit the search range of the camera, that is, determine the alignment direction and rotation range of the camera center line, avoid searching other areas, reduce the amount of calculation, and improve the search speed and capture efficiency.
  • another embodiment of the method for limiting the search range of a camera in the embodiment of the present invention includes:
  • the top view includes an outer box and an inner box.
  • the outer box and the inner box are respectively used to indicate the truss and the performer's movement area, and the performer's movement area is located in the truss.
  • the server draws a top view of the optical motion capture scene according to the truss and performer motion area in the actual scene.
  • the truss and performer motion area in the top view of the optical motion capture scene are centrally symmetrical outer and inner boxes.
  • the box is located inside the outer box.
  • use the preset tool matlab to construct the top view of the optical motion capture scene according to the side length information corresponding to the truss and the performer's motion area in the actual scene, and then rename the top view and save it in the preset directory to get the path of the top view. information.
  • the server reads the top view of the optical motion capture scene according to the path information of the top view.
  • the server determines the vertex of the lower left corner of the outer box from the top view, and sets the vertex of the lower left corner of the outer box as the coordinate origin.
  • the server establishes an xy plane coordinate system based on the coordinate origin.
  • the xy plane coordinate system includes the x axis and y axis; the server obtains the actual position information of the target camera, and converts the actual position information of the target camera to the outer frame in the xy plane coordinate system to obtain the position point of the target camera.
  • the position point of the target camera is (0.3, 0) or (5, 3.5).
  • the server obtains two vertices from the inner box in the xy plane coordinate system, and connects the position point of the target camera with the two vertices respectively to obtain two connecting line segments, and each connecting line segment is connected to the inner box. And there is only one intersection, and the two vertices are adjacent vertices or opposite vertices; the server sets the positive x-axis in the xy plane coordinate system as the reference line, and clamps the two connecting line segments with the reference line respectively according to the cosine function formula Angle calculation, the first included angle value and the second included angle value are obtained, and the first included angle value is greater than the second included angle value.
  • the server sets a unit vector (1, 0) to the position point D of the target camera, and calculates the vector And vector
  • the first included angle value is 85.99 degrees and the second included angle value is 21.57 degrees
  • the first included angle value is greater than the second included angle value, where the two vertices E and F are relative vertices .
  • the cosine function formula of the angle between two vectors is Then the corresponding arc cosine function formula is Further, if the vector a is converted into the unit vector c corresponding to the x-axis direction, that is, a vector modulo 1, the final angle value calculation formula can be determined as
  • the angle of view determines the field of view of the optical instrument.
  • the larger the field of view the larger the field of view.
  • the horizontal field of view FOVX of the target camera is 53 degrees
  • the horizontal field of view of the target camera by the server is divided by 2
  • the half field of view is 27.5 degrees, that is, the half field of view for
  • the server obtains the half angle of view
  • the server obtains the first included angle value ⁇ 1 ; the server compares the first included angle value ⁇ 1 with the half angle of view Perform subtraction calculation to obtain the first camera horizontal angle ⁇ 1 , that is, the calculation formula corresponding to the first camera horizontal angle ⁇ 1 is For example, the first angle value ⁇ 1 is 85.7 degrees, and the half field angle Is 27.5 degrees, so the first camera horizontal angle ⁇ 1 is 58.2 degrees.
  • the server obtains the half angle of view
  • the server obtains the second included angle value ⁇ 2 ; the server compares the second included angle value ⁇ 2 with the half angle of view Perform addition calculation to obtain the second camera horizontal angle ⁇ 2 , that is, the calculation formula corresponding to the second camera horizontal angle ⁇ 2 is For example, the second included angle ⁇ 2 is 15.6 degrees, and the half field angle Is 27.5 degrees, so the second camera horizontal angle ⁇ 2 is 43.1 degrees.
  • the server determines whether the first camera horizontal angle ⁇ 1 is greater than the second camera horizontal angle ⁇ 2 ; if the first camera horizontal angle ⁇ 1 is greater than or equal to the second camera horizontal angle ⁇ 2 , the server executes step 307; If the first camera horizontal angle ⁇ 1 is less than or equal to the second camera horizontal angle ⁇ 2 , the server executes step 308.
  • the server sets the search range of the target camera to be greater than the second camera horizontal angle ⁇ 2 and smaller than or equal to the first camera horizontal angle ⁇ 1 , and the search range of the target camera is used
  • the search range ⁇ of the target camera is 43.1° ⁇ ⁇ 58.2°.
  • the server determines the search range of the target camera according to a preset formula. Further, when the first camera horizontal angle ⁇ 1 is smaller than the second camera horizontal angle ⁇ 2 , The server calculates the target included angle value according to the preset formula, and sets the target included angle value as the search range ⁇ of the target camera.
  • the preset formula is:
  • the search range ⁇ of the target camera is calculated to be 260 degrees, that is, the horizontal field of view of the target camera corresponds to the center line at 260 degrees. That is, the first camera horizontal angle ⁇ 1 and the second camera horizontal angle ⁇ 2 are summed to obtain the sum result, and the sum result is divided by 2 to obtain the search range ⁇ of the target camera.
  • the horizontal rotation range of the center line of the target camera can be within the search range of the target camera, or the center line of the target camera can be set as the target included angle value, where the camera center line of the target camera is also the target camera's
  • the optical axis moves between the search range of the target camera, which saves searching for other areas and improves the efficiency of motion capture.
  • the camera is used to cover and search the performance motion area to realize the tracking and motion capture of the target object, and at the same time according to the position of the camera and the performance motion area Determine and limit the search range of the camera, that is, determine the alignment direction and rotation range of the camera center line, avoid searching other areas, reduce the amount of calculation, and improve the search speed and capture efficiency.
  • an embodiment of the device for limiting the search range of a camera in the embodiment of the present invention include:
  • the obtaining module 401 is used to obtain a top view of the optical motion capture scene.
  • the top view includes an outer box and an inner box.
  • the outer box and the inner box are respectively used to indicate the truss and the performer's movement area, and the performer's movement area is located in the truss;
  • the establishment module 402 is used to establish an x-y plane coordinate system based on the top view, and set the position of the target camera on the outer frame in the x-y plane coordinate system;
  • the first calculation module 403 is used to obtain two vertices from the inner box in the xy plane coordinate system, and calculate the positive included angle of the x-axis according to the position of the two vertices and the target camera to obtain the first included angle value And the second included angle value, the first included angle value is greater than the second included angle value;
  • the second calculation module 404 is used to obtain the horizontal field of view of the target camera, and calculate the first camera horizontal angle and the second camera horizontal angle according to the horizontal field of view of the target camera, the first angle value and the second angle value , Both the first camera horizontal angle and the second camera horizontal angle are used to indicate the horizontal angle from the x-axis to the camera centerline;
  • the setting module 405 is used to set the search range of the target camera to be greater than or equal to the second camera horizontal angle and less than or equal to the first camera horizontal angle when the first camera horizontal angle is greater than the second camera horizontal angle;
  • the determining module 406 is used to determine the search range of the target camera according to a preset formula when the horizontal angle of the first camera is less than or equal to the horizontal angle of the second camera.
  • the camera is used to cover and search the performance motion area to realize the tracking and motion capture of the target object, and at the same time according to the position of the camera and the performance motion area Determine and limit the search range of the camera, that is, determine the alignment direction and rotation range of the camera center line, avoid searching other areas, reduce the amount of calculation, and improve the search speed and capture efficiency.
  • another embodiment of the device for limiting the search range of a camera in the embodiment of the present invention includes:
  • the obtaining module 401 is used to obtain a top view of the optical motion capture scene.
  • the top view includes an outer box and an inner box.
  • the outer box and the inner box are respectively used to indicate the truss and the performer's movement area, and the performer's movement area is located in the truss;
  • the establishment module 402 is used to establish an x-y plane coordinate system based on the top view, and set the position of the target camera on the outer frame in the x-y plane coordinate system;
  • the first calculation module 403 is used to obtain two vertices from the inner box in the xy plane coordinate system, and calculate the positive included angle of the x-axis according to the position of the two vertices and the target camera to obtain the first included angle value And the second included angle value, the first included angle value is greater than the second included angle value;
  • the second calculation module 404 is used to obtain the horizontal field of view of the target camera, and calculate the first camera horizontal angle and the second camera horizontal angle according to the horizontal field of view of the target camera, the first angle value and the second angle value , Both the first camera horizontal angle and the second camera horizontal angle are used to indicate the horizontal angle from the x-axis to the camera centerline;
  • the setting module 405 is used to set the search range of the target camera to be greater than or equal to the second camera horizontal angle and less than or equal to the first camera horizontal angle when the first camera horizontal angle is greater than the second camera horizontal angle;
  • the determining module 406 is used to determine the search range of the target camera according to a preset formula when the horizontal angle of the first camera is less than or equal to the horizontal angle of the second camera.
  • the establishment module 402 may also be specifically used for:
  • the actual position information of the target camera is obtained, and the actual position information of the target camera is converted to the outer frame in the x-y plane coordinate system to obtain the position point of the target camera.
  • the first calculation module 403 may also be specifically used for:
  • the second calculation module 404 may also be specifically used for:
  • the second included angle value and the half-field angle are added together to obtain the second camera horizontal angle. Both the first camera horizontal angle and the second camera horizontal angle are used to indicate the horizontal angle from the x-axis to the camera center line.
  • the determining module 406 may also be specifically used for:
  • the search range ⁇ of the target camera is determined according to the preset formula.
  • the preset formula is:
  • the device for limiting the search range of the camera further includes:
  • the drawing module 407 draws a top view of the optical motion capture scene according to the truss and performer motion area in the actual scene.
  • the truss and performer motion area in the top view of the optical motion capture scene are centrally symmetrical outer and inner boxes. The box is located inside the outer box.
  • the camera is used to cover and search the performance motion area to realize the tracking and motion capture of the target object, and at the same time according to the position of the camera and the performance motion area Determine and limit the search range of the camera, that is, determine the alignment direction and rotation range of the camera center line, avoid searching other areas, reduce the amount of calculation, and improve the search speed and capture efficiency.
  • the device 600 for limiting the search range of a camera may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 610 (for example, one or more processors) and memory 620, one or more storage media 630 (for example, one or one storage device with a large amount of data) storing application programs 633 or data 632.
  • processors central processing units, CPU
  • storage media 630 for example, one or one storage device with a large amount of data
  • the memory 620 and the storage medium 630 may be short-term storage or persistent storage.
  • the program stored in the storage medium 630 may include one or more modules (not shown in the figure), and each module may include a series of command operations in the device 600 that limits the search range of the camera. Further, the processor 610 may be configured to communicate with the storage medium 630, and execute a series of instruction operations in the storage medium 630 on the device 600 that limits the search range of the camera.
  • the device 600 that limits the search range of the camera may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input and output interfaces 660, and/or one or more operating systems 631, for example Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc.
  • operating systems 631 for example Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, and the computer-readable storage medium may also be a volatile computer-readable storage medium.
  • the computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the steps of the method for limiting the search range of the camera.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disks or optical disks and other media that can store program codes. .

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Abstract

本发明涉及运动捕捉领域，公开了一种限制相机搜索范围的方法、装置、设备及存储介质，用于提高光学运动捕捉系统的计算效率。限制相机搜索范围的方法包括：获取光学运动捕捉场景的俯视图，俯视图包括外方框和内方框；基于俯视图建立x-y平面坐标系，并在外方框上设置目标相机的位置点；根据内方框上两个顶点和目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值；按照目标相机的水平视场角、第一夹角值和第二夹角值计算第一相机水平角和第二相机水平角；当第一相机水平角大于第二相机水平角时，将搜索范围设置为第二相机水平角与第一相机水平角之间；当第一相机水平角小于或者等于第二相机水平角时，根据预置公式确定搜索范围。

Description

限制相机搜索范围的方法、装置、设备及存储介质 技术领域
本发明涉及运动捕捉领域，尤其涉及一种限制相机搜索范围的方法、装置、设备及存储介质。
背景技术
光学运动捕捉系统是基于一系列安装在不同位置和角度的光学摄像头，并依靠计算机视觉原理技术，高速而精密地对光学定位mark点进行跟踪，从而来完成对人体全身动作的捕捉。
在现有的光学运动捕捉场景中，通常使用4～10个相机在最上面一层桁架上环绕表演场地排列分布，以跟踪捕捉单个表演者。但随着时代的发展，小型光学运动捕捉场景已经不再占主导，业界对运动捕捉系统提出了更多的要求，希望能够在中、大型运动捕捉空间中实现多个表演者的运动捕捉，在现有技术中，相机搜索范围为0到360度之间，采用这样的搜索范围进行光学运动捕捉比较耗时，导致光学运动捕捉系统的计算效率较低。
发明内容
本发明的主要目的在于解决采用0到360度之间的相机搜索范围进行运动捕捉比较耗时，导致光学运动捕捉系统的计算效率较低的问题。
本发明第一方面提供了一种限制相机搜索范围的方法，包括：获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内；基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点；从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值；获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方 向角度；当所述第一相机水平角大于所述第二相机水平角时，将目标相机的搜索范围设置为大于或者等于所述第二相机水平角，并且小于或者等于所述第一相机水平角；当所述第一相机水平角小于或者等于所述第二相机水平角时，根据预置公式确定所述目标相机的搜索范围。
可选的，在本发明第一方面的第一种实现方式中，所述基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点，包括：从所述俯视图中确定外方框的左下角顶点，并将所述外方框的左下角顶点设置为坐标原点，建立x-y平面坐标系；获取目标相机的实际位置信息，并将所述目标相机的实际位置信息转换到所述x-y平面坐标系中的外边框上，得到目标相机的位置点。
可选的，在本发明第一方面的第二种实现方式中，所述从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值，包括：从所述x-y平面坐标系中的内方框上获取两个顶点，并对所述目标相机的位置点分别与所述两个顶点进行连接，得到两个连接线段，每个连接线段与所述内方框有且仅有一个交点；将所述x-y平面坐标系中的x轴正向设置为基准线，并按照余弦函数公式对所述两个连接线段分别与所述基准线进行夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值。
可选的，在本发明第一方面的第三种实现方式中，所述获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度，包括：获取目标相机的水平视场角，并对所述目标相机的水平视场角除以2，得到半视场角；对所述第一夹角值与所述半视场角进行减法计算，得到第一相机水平角；对所述第二夹角值与所述半视场角进行加法计算，得到第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
可选的，在本发明第一方面的第四种实现方式中，所述当所述第一相机水平角小于所述第二相机水平角时，根据预置公式确定所述目标相机的搜索 范围，包括：当所述第一相机水平角θ 1小于所述第二相机水平角θ 2时，根据预置公式确定所述目标相机的搜索范围ω，所述预置公式为：
Figure PCTCN2021088595-appb-000001
可选的，在本发明第一方面的第五种实现方式中，在所述获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内之前，所述限制相机搜索范围的方法还包括：按照实际场景中所述桁架和所述表演者运动区域绘制所述光学运动捕捉场景的俯视图，所述桁架和所述表演者运动区域在所述光学运动捕捉场景的俯视图中为中心对称的外方框和内方框，所述内方框置于所述外方框内。
本发明第二方面提供了一种限制相机搜索范围的装置，包括：获取模块，用于获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内；建立模块，用于基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点；第一计算模块，用于从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值；第二计算模块，用于获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；设置模块，当所述第一相机水平角大于所述第二相机水平角时，用于将目标相机的搜索范围设置为大于或者等于所述第二相机水平角，并且小于或者等于所述第一相机水平角；确定模块，当所述第一相机水平角小于或者等于所述第二相机水平角时，用于根据预置公式确定所述目标相机的搜索范围。
可选的，在本发明第二方面的第一种实现方式中，所述建立模块具体用于：从所述俯视图中确定外方框的左下角顶点，并将所述外方框的左下角顶点设置为坐标原点，建立x-y平面坐标系；获取目标相机的实际位置信息，并将所述目标相机的实际位置信息转换到所述x-y平面坐标系中的外边框上，得到目标相机的位置点。
可选的，在本发明第二方面的第二种实现方式中，所述第一计算模块具体用于：从所述x-y平面坐标系中的内方框上获取两个顶点，并对所述目标相机的位置点分别与所述两个顶点进行连接，得到两个连接线段，每个连接线段与所述内方框有且仅有一个交点，所述两个顶点为相邻顶点或者相对顶点；将所述x-y平面坐标系中的x轴正向设置为基准线，并按照余弦函数公式对所述两个连接线段分别与所述基准线进行夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值。
可选的，在本发明第二方面的第三种实现方式中，所述第二计算模块具体用于：获取目标相机的水平视场角，并对所述目标相机的水平视场角除以2，得到半视场角；对所述第一夹角值与所述半视场角进行减法计算，得到第一相机水平角；对所述第二夹角值与所述半视场角进行加法计算，得到第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
可选的，在本发明第二方面的第四种实现方式中，所述确定模块具体用于：当所述第一相机水平角θ 1小于所述第二相机水平角θ 2时，根据预置公式确定所述目标相机的搜索范围ω，所述预置公式为：
Figure PCTCN2021088595-appb-000002
可选的，在本发明第二方面的第五种实现方式中，所述限制相机搜索范围的装置还包括：绘制模块，按照实际场景中所述桁架和所述表演者运动区域绘制所述光学运动捕捉场景的俯视图，所述桁架和所述表演者运动区域在所述光学运动捕捉场景的俯视图中为中心对称的外方框和内方框，所述内方框置于所述外方框内。
本发明第三方面提供了一种限制相机搜索范围的设备，包括：存储器和至少一个处理器，所述存储器中存储有指令，所述存储器和所述至少一个处理器通过线路互连；所述至少一个处理器调用所述存储器中的所述指令，以使得所述限制相机搜索范围的设备执行上述的限制相机搜索范围的方法。
本发明的第四方面提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述的限制相机搜索范围的方法。
本发明提供的技术方案中，获取光学运动捕捉场景的俯视图，所述俯视 图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内；基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点；从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值；获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；当所述第一相机水平角大于所述第二相机水平角时，将目标相机的搜索范围设置为大于或者等于所述第二相机水平角，并且小于或者等于所述第一相机水平角；当所述第一相机水平角小于或者等于所述第二相机水平角时，根据预置公式确定所述目标相机的搜索范围。本发明实施例中，通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉，同时根据相机的位置点和表演运动区域确定并限制相机的搜索范围，也就是确定相机中心线的对准方向和旋转范围，避免搜索其他区域，减少了计算量，提高了搜索速度和捕捉效率。
附图说明
图1为本发明实施例中限制相机搜索范围的方法的一个实施例示意图；
图2为本发明实施例中光学运动捕捉场景下相机捕捉范围的示意图；
图3为本发明实施例中限制相机搜索范围的方法的另一个实施例示意图；
图4为本发明实施例中限制相机搜索范围的装置的一个实施例示意图；
图5为本发明实施例中限制相机搜索范围的装置的另一个实施例示意图；
图6为本发明实施例中限制相机搜索范围的设备的一个实施例示意图。
具体实施方式
本发明实施例提供了一种限制相机搜索范围的方法、装置、设备及存储介质，用于通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第 三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”或“具有”及其任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为便于理解，下面对本发明实施例的具体流程进行描述，请参阅图1，本发明实施例中限制相机搜索范围的方法的一个实施例包括：
101、获取光学运动捕捉场景的俯视图，俯视图包括外方框和内方框，外方框和内方框分别用于指示桁架和表演者运动区域，表演者运动区域位于桁架内。
其中，光学式运动捕捉场景通过预先部署在桁架上的相机对表演者运动区域中的目标对象进行监视和跟踪，进而完成运动捕捉的任务。目前常见的光学运动捕捉大多数居于计算机视觉原理。而光学运动捕捉场景的俯视图包括桁架的投影和表演者运动区域的投影，如图2所示，分别得到外方框201和内方框202，而外方框201包括内方框202，并且两个方框成中心对称。
需要说明的是，桁架可以为单层桁架、两层桁架或者多层桁架，每层桁架的高度不同，但是均投影到光学运动捕捉场景的俯视图中相同的外方框中，例如，单层桁架的长度和宽度分别为6米和5米，对应的外方框的长宽比也为6∶5，单位为米。
可以理解的是，本发明的执行主体可以为限制相机搜索范围的装置，还可以是终端或者服务器，具体此处不做限定。本发明实施例以服务器为执行主体为例进行说明。
102、基于俯视图建立x-y平面坐标系，并在x-y平面坐标系中的外方框上设置目标相机的位置点。
在实际应用场景中，目标相机安装在对应层数的桁架中，桁架可以为单层桁架，具体此处不做限定。进一步地，服务器基于俯视图生成x-y平面坐标系，x-y平面坐标系包括坐标原点、x轴和y轴，其中，坐标原点可以设置在外方框中任意一个顶点，也可以设置在俯视图中的中心对称点，具体此处不 做限定，例如，服务器获取内方框的中心对称点；服务器设置内方框的中心对称点为坐标原点O，并基于坐标原点O建立x-y平面坐标；服务器采集目标相机的实际位置信息，并将目标相机的实际位置信息转换至x-y平面坐标系中的外方框上，得到目标相机的位置点。例如，服务器获取目标相机的实际位置信息为(2，3，4)，转换后的目标相机的位置点对应的坐标信息为(2，0)。
103、从x-y平面坐标系中的内方框上获取两个顶点，并根据两个顶点和目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值。
具体的，服务器从x-y平面坐标系中的内方框上获取两个顶点，两个顶点为相邻顶点或者相对顶点。服务器对两个顶点分别与目标相机的位置点进行连接，得到扇形区域，扇形区域用于指示相机水平方向的捕捉范围，也就是，目标相机能够拍摄覆盖表演者运动区域，因此，扇形区域限制了目标相机的左、右边界线不能超过运动区域。例如，如图2所示，目标相机的位置点a与内方框上的两个相对顶点B和C进行连接，得到连接线段L1和连接线段L2，其中，两个相对顶点B和C分别为内方框的左上角顶点和内方框的右下角顶点，连接线段L1和连接线段L2构成扇形区域，目标相机的运动捕捉范围的左边界线不能超过连接线段L1，目标相机的运动捕捉范围的右边界线不能超过连接线段L1。进一步地，服务器计算扇形区域地两条边分别与x轴的正向夹角，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值，例如，第一夹角值为80.6度，第二夹角值为54.3度。而当目标相机位置点位于外边框的D点位置时，计算得到第一夹角值为123.6度，第二夹角值为67.3度。
104、获取目标相机的水平视场角，并按照目标相机的水平视场角、第一夹角值和第二夹角值计算第一相机水平角和第二相机水平角，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
其中，搜索范围为相机中心线可以对准的方向和范围，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度，服务器限制目标相机的搜索范围，也就是对目标相机的中心线可以对准的方向和范围进行限制。由于第一夹角值大于第二夹角值，因此，服务器获取目标相机 的水平视场角；服务器将第一夹角值减去二分之一的水平视场角，得到第一相机水平角；服务器将第一夹角值加上二分之一的水平视场角，得到第二相机水平角；服务器确定第一相机水平角到第二相机水平角之间的角度范围为目标相机的搜索范围。例如，如图2所示，相机的水平视场角为FOVX，俯视图中外方框上的a点为目标相机的位置点，目标相机a的捕捉范围左边界(或延长线)在内方框左上角时，第一相机水平角为θ 1；记右边界(或延长线)在内方框右下角时，第二相机水平角为θ 2。
进一步地，服务器判断第一相机水平角是否大于第二相机水平角；若第一相机水平角小于或者等于第二相机水平角，则服务器执行步骤106；若第一相机水平角大于第二相机水平角，则服务器执行步骤105。
105、当第一相机水平角大于第二相机水平角时，将目标相机的搜索范围设置为大于或者等于第二相机水平角，并且小于或者等于第一相机水平角。
当第一相机水平角θ 1大于第二相机水平角θ 2时，θ 1＞θ 2，此时相机水平角范围θ 1～θ 2就是目标相机的搜索方向(相机水平角CameraH的搜索范围)，举例说明，当第一相机水平角θ 2为112.5度，第二相机水平角θ 2为45.6度，则第一相机水平角θ 2大于第二相机水平角θ 2，则目标相机的搜索范围为45.6度至112.5度之间，也就是，目标相机的搜索范围大于或者等于45.6度，并且小于或者等于112.5度。目标相机的相机中心线可以在45.6度到112.5度之间进行移动。
106、当第一相机水平角小于或者等于第二相机水平角时，根据预置公式确定目标相机的搜索范围。
当第一相机水平角θ 1小于或者等于第二相机水平角θ 2时，θ 1＜θ 2或者θ 1＝θ 2，则根据预置公式确定目标相机的搜索范围为
Figure PCTCN2021088595-appb-000003
也就是，此时直接设置相机中心线的水平方向角度为一个确定值，并且相机水平角CameraH的方向与
Figure PCTCN2021088595-appb-000004
计算得到的角度方向一致。
本发明实施例中，通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉，同时根据相机的位置点和表演运动区域确定并限制相机的搜索范围，也就是确定相机中心线的对准方向和旋转范围，避免搜索其他区域，减少了计算量，提高了搜索速度和捕捉效率。
请参阅图3，本发明实施例中限制相机搜索范围的方法的另一个实施例包括：
301、获取光学运动捕捉场景的俯视图，俯视图包括外方框和内方框，外方框和内方框分别用于指示桁架和表演者运动区域，表演者运动区域位于桁架内。
可以理解的是，对于光学运动捕捉场景中的一个点，只要同时被两个相机搜索，则根据同一时刻两个相机所拍摄的图像和相机参数，就可确定这一时刻该点在光学运动捕捉场景中的位置。当相机以足够高的速率连续拍摄时，从图像序列中就可以得到该点的运动轨迹。进一步地，完成对表演者的运动捕捉。
可选的，服务器按照实际场景中桁架和表演者运动区域绘制光学运动捕捉场景的俯视图，桁架和表演者运动区域在光学运动捕捉场景的俯视图中为中心对称的外方框和内方框，内方框位于外方框内。例如，采用预置工具matlab按照实际场景中桁架和表演者运动区域各自对应的边长信息构建光学运动捕捉场景的俯视图，并将该俯视图重新命名后，保存到预置目录下，得到俯视图的路径信息。服务器根据俯视图的路径信息读取光学运动捕捉场景的俯视图。
302、基于俯视图建立x-y平面坐标系，并在x-y平面坐标系中的外方框上设置目标相机的位置点。
具体的，服务器从俯视图中确定外方框的左下角顶点，并将外方框的左下角顶点设置为坐标原点，服务器基于坐标原点建立x-y平面坐标系，其中，x-y平面坐标系包括x轴和y轴；服务器获取目标相机的实际位置信息，并将目标相机的实际位置信息转换到x-y平面坐标系中的外边框上，得到目标相机的位置点。例如，目标相机的位置点为(0.3，0)或者(5，3.5)。
303、从x-y平面坐标系中的内方框上获取两个顶点，并根据两个顶点和目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值。
具体的，服务器从x-y平面坐标系中的内方框上获取两个顶点，并对目标相机的位置点分别与两个顶点进行连接，得到两个连接线段，每个连接线段与内方框有且仅有一个交点，两个顶点为相邻顶点或者相对顶点；服务器将 x-y平面坐标系中的x轴正向设置为基准线，并按照余弦函数公式对两个连接线段分别与基准线进行夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值。例如，目标相机的位置点D(0.2，0)，内方框的两个顶点E(0.5，4.5)和F(4.5，0.5)，则得到位置点D与顶点E之间的向量
Figure PCTCN2021088595-appb-000005
(0.3，4.5)，以及位置点D与顶点F之间的向量
Figure PCTCN2021088595-appb-000006
(4.3，0.5)，服务器对目标相机的位置点D设置一个单位向量(1，0)，计算向量
Figure PCTCN2021088595-appb-000007
和向量
Figure PCTCN2021088595-appb-000008
分别与单位向量之间的夹角，得到第一夹角值85.99度和第二夹角值21.57度，第一夹角值大于第二夹角值，其中，两个顶点E和F为相对顶点。
需要说明的是，两个向量的夹角的余弦函数公式为
Figure PCTCN2021088595-appb-000009
那么对应的反余弦函数公式为
Figure PCTCN2021088595-appb-000010
进一步地，若将向量a转化为x轴方向对应的单位向量c，也就是模为1的向量，则可以确定最终的夹角值计算公式为
Figure PCTCN2021088595-appb-000011
304、获取目标相机的水平视场角，并对目标相机的水平视场角除以2，得到半视场角。
其中，以目标相机的镜头为顶点，以被测目标对象可通过镜头的最大范围的两条边缘构成的夹角，称为视场角。视场角的大小决定了光学仪器的视野范围，视场角越大，视野就越大。例如，如图2所示，目标相机的水平视场角FOVX为53度，那么服务器对目标相机的水平视场角除以2，得到半视场角为27.5度，也就是，半视场角为
Figure PCTCN2021088595-appb-000012
305、对第一夹角值与半视场角进行减法计算，得到第一相机水平角。
具体的，服务器获取半视场角
Figure PCTCN2021088595-appb-000013
服务器获取第一夹角值α 1；服务器将第一夹角值α 1与半视场角
Figure PCTCN2021088595-appb-000014
进行减法计算，得到第一相机水平角θ 1，也就是，第一相机水平角θ 1对应的计算公式为
Figure PCTCN2021088595-appb-000015
例如，第一夹角值α 1为85.7度，半视场角
Figure PCTCN2021088595-appb-000016
为27.5度，那么第一相机水平角θ 1为58.2度。
306、对第二夹角值与半视场角进行加法计算，得到第二相机水平角，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
具体的，服务器获取半视场角
Figure PCTCN2021088595-appb-000017
服务器获取第二夹角值α 2；服务器 将第二夹角值α 2与半视场角
Figure PCTCN2021088595-appb-000018
进行加法计算，得到第二相机水平角θ 2，也就是，第二相机水平角θ 2对应的计算公式为
Figure PCTCN2021088595-appb-000019
例如，第二夹角值α 2为15.6度，半视场角
Figure PCTCN2021088595-appb-000020
为27.5度，那么第二相机水平角θ 2为43.1度。
进一步地，具体的，服务器判断第一相机水平角θ 1是否大于第二相机水平角θ 2；若第一相机水平角θ 1大于或者等于第二相机水平角θ 2，则服务器执行步骤307；若第一相机水平角θ 1小于或者等于第二相机水平角θ 2，则服务器执行步骤308。
307、当第一相机水平角大于第二相机水平角时，将目标相机的搜索范围设置为大于或者等于第二相机水平角，并且小于或者等于第一相机水平角。
当第一相机水平角大于第二相机水平角时，服务器将目标相机的搜索范围设置为大于第二相机水平角θ 2，并且小于或者等于第一相机水平角θ 1，目标相机的搜索范围用于指示目标相机的相机中心线在水平方向的旋转范围，例如，第一相机水平角θ 1为58.2度，第二相机水平角θ 2为43.1度，则目标相机的搜索范围ω为43.1°≤ω≤58.2°。
308、当第一相机水平角小于或者等于第二相机水平角时，根据预置公式确定目标相机的搜索范围。
当第一相机水平角θ 1小于第二相机水平角θ 2时，服务器根据预置公式确定目标相机的搜索范围，进一步地，当第一相机水平角θ 1小于第二相机水平角θ 2时，服务器根据预置公式计算目标夹角值，并将目标夹角值设置为目标相机的搜索范围ω，预置公式为：
Figure PCTCN2021088595-appb-000021
其中，
Figure PCTCN2021088595-appb-000022
为目标夹角值。例如，若第一相机水平角θ 1为245度，第二相机水平角θ 2为275度，则服务器确定第一相机水平角θ 2大于第一相机水平角θ 1，则服务器根据预置公式计算得到目标相机的搜索范围ω为260度，也就是目标相机的水平视场角对应中心线位于260度。也就是，对第一相机水平角θ 1和第二相机水平角θ 2求和，得到求和结果，再对求和结果除以2，得到目标相机的搜索范围ω。
可以理解的是，目标相机的中心线在水平方向的旋转范围可以为目标相机的搜索范围内，也可以目标相机的中心线设置为目标夹角值，其中目标相机的相机中心线也是目标相机的光轴，移动在目标相机的搜索范围之间，节 省了搜索其他区域，提高了运动捕捉效率。
本发明实施例中，通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉，同时根据相机的位置点和表演运动区域确定并限制相机的搜索范围，也就是确定相机中心线的对准方向和旋转范围，避免搜索其他区域，减少了计算量，提高了搜索速度和捕捉效率。
上面对本发明实施例中限制相机搜索范围的方法进行了描述，下面对本发明实施例中限制相机搜索范围的装置进行描述，请参阅图4，本发明实施例中限制相机搜索范围的装置一个实施例包括：
获取模块401，用于获取光学运动捕捉场景的俯视图，俯视图包括外方框和内方框，外方框和内方框分别用于指示桁架和表演者运动区域，表演者运动区域位于桁架内；
建立模块402，用于基于俯视图建立x-y平面坐标系，并在x-y平面坐标系中的外方框上设置目标相机的位置点；
第一计算模块403，用于从x-y平面坐标系中的内方框上获取两个顶点，并根据两个顶点和目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值；
第二计算模块404，用于获取目标相机的水平视场角，并按照目标相机的水平视场角、第一夹角值和第二夹角值计算第一相机水平角和第二相机水平角，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；
设置模块405，当第一相机水平角大于第二相机水平角时，用于将目标相机的搜索范围设置为大于或者等于第二相机水平角，并且小于或者等于第一相机水平角；
确定模块406，当第一相机水平角小于或者等于第二相机水平角时，用于根据预置公式确定目标相机的搜索范围。
本发明实施例中，通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉，同时根据相机的位置点和表演运动区域确定并限制相机的搜索范围，也就是确定相机中心线的对准方向和旋转范围，避免搜索其他区域，减少了计算量， 提高了搜索速度和捕捉效率。
请参阅图5，本发明实施例中限制相机搜索范围的装置的另一个实施例包括：
获取模块401，用于获取光学运动捕捉场景的俯视图，俯视图包括外方框和内方框，外方框和内方框分别用于指示桁架和表演者运动区域，表演者运动区域位于桁架内；
建立模块402，用于基于俯视图建立x-y平面坐标系，并在x-y平面坐标系中的外方框上设置目标相机的位置点；
第一计算模块403，用于从x-y平面坐标系中的内方框上获取两个顶点，并根据两个顶点和目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值；
第二计算模块404，用于获取目标相机的水平视场角，并按照目标相机的水平视场角、第一夹角值和第二夹角值计算第一相机水平角和第二相机水平角，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；
设置模块405，当第一相机水平角大于第二相机水平角时，用于将目标相机的搜索范围设置为大于或者等于第二相机水平角，并且小于或者等于第一相机水平角；
确定模块406，当第一相机水平角小于或者等于第二相机水平角时，用于根据预置公式确定目标相机的搜索范围。
可选的，建立模块402还可以具体用于：
从俯视图中确定外方框的左下角顶点，并将外方框的左下角顶点设置为坐标原点，建立x-y平面坐标系；
获取目标相机的实际位置信息，并将目标相机的实际位置信息转换到x-y平面坐标系中的外边框上，得到目标相机的位置点。
可选的，第一计算模块403还可以具体用于：
从x-y平面坐标系中的内方框上获取两个顶点，并对目标相机的位置点分别与两个顶点进行连接，得到两个连接线段，每个连接线段与内方框有且仅有一个交点；
将x-y平面坐标系中的x轴正向设置为基准线，并按照余弦函数公式对两 个连接线段分别与基准线进行夹角计算，得到第一夹角值和第二夹角值，第一夹角值大于第二夹角值。
可选的，第二计算模块404还可以具体用于：
获取目标相机的水平视场角，并对目标相机的水平视场角除以2，得到半视场角；
对第一夹角值与半视场角进行减法计算，得到第一相机水平角；
对第二夹角值与半视场角进行加法计算，得到第二相机水平角，第一相机水平角和第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
可选的，确定模块406还可以具体用于：
当第一相机水平角θ 1小于或者等于第二相机水平角θ 2，根据预置公式确定目标相机的搜索范围ω，预置公式为：
Figure PCTCN2021088595-appb-000023
可选的，限制相机搜索范围的装置还包括：
绘制模块407，按照实际场景中桁架和表演者运动区域绘制光学运动捕捉场景的俯视图，桁架和表演者运动区域在光学运动捕捉场景的俯视图中为中心对称的外方框和内方框，内方框位于外方框内。
本发明实施例中，通过在光学运动捕捉场景中采用在桁架上布局相机，使用相机对表演运动区域进行覆盖搜索，实现对目标对象的跟踪和运动捕捉，同时根据相机的位置点和表演运动区域确定并限制相机的搜索范围，也就是确定相机中心线的对准方向和旋转范围，避免搜索其他区域，减少了计算量，提高了搜索速度和捕捉效率。
上面图4和图5从模块化功能实体的角度对本发明实施例中的限制相机搜索范围的装置进行详细描述，下面从硬件处理的角度对本发明实施例中限制相机搜索范围的设备进行详细描述。
图6是本发明实施例提供的一种限制相机搜索范围的设备的结构示意图，该限制相机搜索范围的设备600可因配置或性能不同而产生比较大的差异，可以包括一个或一个以上处理器(central processing units，CPU)610(例如，一个或一个以上处理器)和存储器620，一个或一个以上存储应用程序633或数据632的存储介质630(例如一个或一个以上海量存储设备)。其中，存储器620和存储介质630可以是短暂存储或持久存储。存储在存储介质630的 程序可以包括一个或一个以上模块(图示没标出)，每个模块可以包括对限制相机搜索范围的设备600中的一系列指令操作。更进一步地，处理器610可以设置为与存储介质630通信，在限制相机搜索范围的设备600上执行存储介质630中的一系列指令操作。
限制相机搜索范围的设备600还可以包括一个或一个以上电源640，一个或一个以上有线或无线网络接口650，一个或一个以上输入输出接口660，和/或，一个或一个以上操作系统631，例如Windows Serve，Mac OS X，Unix，Linux，FreeBSD等等。本领域技术人员可以理解，图6示出的限制相机搜索范围的设备结构并不构成对限制相机搜索范围的设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
本发明还提供一种计算机可读存储介质，该计算机可读存储介质可以为非易失性计算机可读存储介质，该计算机可读存储介质也可以为易失性计算机可读存储介质，所述计算机可读存储介质中存储有指令，当所述指令在计算机上运行时，使得计算机执行所述限制相机搜索范围的方法的步骤。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案 的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种限制相机搜索范围的方法，其特征在于，所述限制相机搜索范围的方法包括：
    获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内；
    基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点；
    从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值；
    获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；
    当所述第一相机水平角大于所述第二相机水平角时，将目标相机的搜索范围设置为大于或者等于所述第二相机水平角，并且小于或者等于所述第一相机水平角；
    当所述第一相机水平角小于或者等于所述第二相机水平角时，根据预置公式确定所述目标相机的搜索范围。
  2. 根据权利要求1所述的限制相机搜索范围的方法，其特征在于，所述基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点，包括：
    从所述俯视图中确定外方框的左下角顶点，并将所述外方框的左下角顶点设置为坐标原点，建立x-y平面坐标系；
    获取目标相机的实际位置信息，并将所述目标相机的实际位置信息转换到所述x-y平面坐标系中的外边框上，得到目标相机的位置点。
  3. 根据权利要求1所述的限制相机搜索范围的方法，其特征在于，所述 从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值，包括：
    从所述x-y平面坐标系中的内方框上获取两个顶点，并对所述目标相机的位置点分别与所述两个顶点进行连接，得到两个连接线段，每个连接线段与所述内方框有且仅有一个交点；
    将所述x-y平面坐标系中的x轴正向设置为基准线，并按照余弦函数公式对所述两个连接线段分别与所述基准线进行夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值。
  4. 根据权利要求1所述的限制相机搜索范围的方法，其特征在于，所述获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度，包括：
    获取目标相机的水平视场角，并对所述目标相机的水平视场角除以2，得到半视场角；
    对所述第一夹角值与所述半视场角进行减法计算，得到第一相机水平角；
    对所述第二夹角值与所述半视场角进行加法计算，得到第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度。
  5. 根据权利要求1所述的限制相机搜索范围的方法，其特征在于，所述当所述第一相机水平角小于或者等于所述第二相机水平角时，根据预置公式确定所述目标相机的搜索范围，包括：
    当所述第一相机水平角θ 1小于所述第二相机水平角θ 2时，根据预置公式确定所述目标相机的搜索范围ω，所述预置公式为：
    Figure PCTCN2021088595-appb-100001
  6. 根据权利要求1-5中任一项所述的限制相机搜索范围的方法，其特征 在于，在所述获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内之前，所述限制相机搜索范围的方法还包括：
    按照实际场景中所述桁架和所述表演者运动区域绘制所述光学运动捕捉场景的俯视图，所述桁架和所述表演者运动区域在所述光学运动捕捉场景的俯视图中为中心对称的外方框和内方框，所述内方框置于所述外方框内。
  7. 一种限制相机搜索范围的装置，其特征在于，所述限制相机搜索范围的装置包括：
    获取模块，用于获取光学运动捕捉场景的俯视图，所述俯视图包括外方框和内方框，所述外方框和所述内方框分别用于指示桁架和表演者运动区域，所述表演者运动区域位于所述桁架内；
    建立模块，用于基于所述俯视图建立x-y平面坐标系，并在所述x-y平面坐标系中的外方框上设置目标相机的位置点；
    第一计算模块，用于从所述x-y平面坐标系中的内方框上获取两个顶点，并根据所述两个顶点和所述目标相机的位置点进行x轴正向夹角计算，得到第一夹角值和第二夹角值，所述第一夹角值大于所述第二夹角值；
    第二计算模块，用于获取目标相机的水平视场角，并按照所述目标相机的水平视场角、所述第一夹角值和所述第二夹角值计算第一相机水平角和第二相机水平角，所述第一相机水平角和所述第二相机水平角均用于指示从x轴至相机中心线的水平方向角度；
    设置模块，当所述第一相机水平角大于所述第二相机水平角时，用于将目标相机的搜索范围设置为大于或者等于所述第二相机水平角，并且小于或者等于所述第一相机水平角；
    确定模块，当所述第一相机水平角小于或者等于所述第二相机水平角时，用于根据预置公式确定所述目标相机的搜索范围。
  8. 一种限制相机搜索范围的装置，其特征在于，所述建立模块具体用于：
    从所述俯视图中确定外方框的左下角顶点，并将所述外方框的左下角顶点设置为坐标原点，建立x-y平面坐标系；
    获取目标相机的实际位置信息，并将所述目标相机的实际位置信息转换到所述x-y平面坐标系中的外边框上，得到目标相机的位置点。
  9. 一种限制相机搜索范围的设备，其特征在于，所述限制相机搜索范围的设备包括：存储器和至少一个处理器，所述存储器中存储有指令，所述存储器和所述至少一个处理器通过线路互连；
    所述至少一个处理器调用所述存储器中的所述指令，以使得所述限制相机搜索范围的设备执行如权利要求1-6中任意一项所述的限制相机搜索范围的方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-6中任一项所述限制相机搜索范围的方法。
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