Shape generation apparatus, control method, and computer-readable storage medium

A shape generation apparatus, comprising

• an obtainment unit configured to obtain, for each of a plurality of image capturing apparatuses which capture an object from directions different from each other, a parameter including a depth of field concerning image capturing, and a foreground image generated by extracting a foreground region from a captured image captured by the image capturing;
• a defining unit configured to define not less than one voxel in a space captured by the plurality of image capturing apparatuses;
• a determination unit configured to, for each of the not less than one voxel and each of the plurality of image capturing apparatuses, determine that the voxel is included within a range of a depth of field of the image capturing apparatus in a case where a distance between the image capturing apparatus and a first point obtained by moving a representative point of the voxel by a distance corresponding to a size of the voxel in a frontward direction along an optical axis of the image capturing apparatus is longer than a front depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus close to the image capturing apparatus, and a distance between the image capturing apparatus and a second point obtained by moving the representative point by the distance corresponding to the size of the voxel in a rearward direction along an optical axis of the image capturing apparatus is shorter than a rear depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus far from the image capturing apparatus;
• and
• a generation unit configured to, for each of the not less than one voxel and each of the plurality of image capturing apparatuses, generate a three-dimensional shape model of an object by evaluating whether the voxel includes the object by using the foreground image corresponding to the image capturing apparatus for which the voxel is determined to be included within the range of the depth of field and not using the foreground image corresponding to the image capturing apparatus for which the voxel is determined not to be included within the range of the depth of field.

A control method executed by a shape generation apparatus, comprising:

• obtaining, for each of a plurality of image capturing apparatuses which capture an object from directions different from each other, a parameter including a depth of field of the image capturing apparatuses, and a foreground image generated by extracting a foreground region from a captured image captured by the image capturing;
• setting a plurality of voxels in a space captured by the plurality of image capturing apparatuses;
• correcting a detecting area based on a size of the voxel and the parameter so that the detecting area is narrowed than the depth of field of the image capturing apparatuses;
• determining whether a first voxel included in the plurality of voxels is included within a range of the corrected detecting area;
• and
• determining whether to delete the first voxel using the foreground image corresponding to the image capturing apparatus for which the first voxel is determined to be included within the range of the corrected detecting area.

A control method executed by a shape generation apparatus, comprising:

• obtaining, for each of a plurality of image capturing apparatuses which capture an object from directions different from each other, a parameter including a depth of field concerning image capturing, and a foreground image generated by extracting a foreground region from a captured image captured by the image capturing;
• defining not less than one voxel in a space captured by the plurality of image capturing apparatuses;
• for each of the not less than one voxel and each of the plurality of image capturing apparatuses,
• determining that the voxel is included within a range of a depth of field of the image capturing apparatus in a case where a distance between the image capturing apparatus and a first point obtained by moving a representative point of the voxel by a distance corresponding to a size of the voxel in a frontward direction along an optical axis of the image capturing apparatus is longer than a front depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus close to the image capturing apparatus, and a distance between the image capturing apparatus and a second point obtained by moving the representative point by the distance corresponding to the size of the voxel in a rearward direction along an optical axis of the image capturing apparatus is shorter than a rear depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus far from the image capturing apparatus;
• and
• generating a three-dimensional shape model of an object by evaluating whether the voxel includes the object by using the foreground image corresponding to the image capturing apparatus for which the voxel is determined to be included within the range of the depth of field and not using the foreground image corresponding to the image capturing apparatus for which the voxel is determined not to be included within the range of the depth of field.

A non-transitory computer-readable storage medium that stores a program for causing a computer included in a shape generation apparatus to execute a control method, the control method comprising:

• obtaining, for each of a plurality of image capturing apparatuses which capture an object from directions different from each other, a parameter including a depth of field of the image capturing apparatuses, and a foreground image generated by extracting a foreground region from a captured image captured by the image capturing;
• setting a plurality of voxels in a space captured by the plurality of image capturing apparatuses;
• correcting a detecting area based on a size of the voxel and the parameter so that the detecting area is narrowed than the depth of field of the image capturing apparatuses;
• determining whether a first voxel included in the plurality of voxels is included within a range of the corrected detecting area;
• and
• determining whether to delete the first voxel using the foreground image corresponding to the image capturing apparatus for which the first voxel is determined to be included within the range of the corrected detecting area.

A non-transitory computer-readable storage medium that stores a program for causing a computer included in a shape generation apparatus to execute a control method, the control method comprising:

• obtaining, for each of a plurality of image capturing apparatuses which capture an object from directions different from each other, a parameter including a depth of field concerning image capturing, and a foreground image generated by extracting a foreground region from a captured image captured by the image capturing;
• defining not less than one voxel in a space captured by the plurality of image capturing apparatuses;
• for each of the not less than one voxel and each of the plurality of image capturing apparatuses,
• determining that the voxel is included within a range of a depth of field of the image capturing apparatus in a case where a distance between the image capturing apparatus and a first point obtained by moving a representative point of the voxel by a distance corresponding to a size of the voxel in a frontward direction along an optical axis of the image capturing apparatus is longer than a front depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus close to the image capturing apparatus, and a distance between the image capturing apparatus and a second point obtained by moving the representative point by the distance corresponding to the size of the voxel in a rearward direction along an optical axis of the image capturing apparatus is shorter than a rear depth of field, which is a distance to a boundary of the depth of field of the image capturing apparatus far from the image capturing apparatus;
• and
• generating a three-dimensional shape model of an object by evaluating whether the voxel includes the object by using the foreground image corresponding to the image capturing apparatus for which the voxel is determined to be included within the range of the depth of field and not using the foreground image corresponding to the image capturing apparatus for which the voxel is determined not to be included within the range of the depth of field.