CN109889803A - A kind of structure light image acquisition methods and device - Google Patents
A kind of structure light image acquisition methods and device Download PDFInfo
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- CN109889803A CN109889803A CN201910023968.9A CN201910023968A CN109889803A CN 109889803 A CN109889803 A CN 109889803A CN 201910023968 A CN201910023968 A CN 201910023968A CN 109889803 A CN109889803 A CN 109889803A
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Abstract
The present invention is suitable for image acquisition technology, provide a kind of structure light image acquisition methods and device, structure light image acquisition methods include: according to default projection frequency and frequency acquisition, to projective structure light in space to be measured and acquire multiple image, multiple image includes at least the first image and the second image, first image includes ambient light information, and the second image includes ambient light information and structure optical information；According to multiple image, judge whether space to be measured is in dynamic；If space to be measured is in dynamic, 3D noise reduction process is carried out to multiple image；Export accurate structure light image；By controlling projection frequency and frequency acquisition, the two no longer corresponds, by comparing and analyzing to the first image and the second image, so as to effectively remove the influence of environment light, the precision of the structure light image of acquisition is improved, and then image depth information is also more accurate.
Description
Technical field
The invention belongs to image acquisition technology more particularly to a kind of structure light image acquisition methods and device.
Background technique
Structure light depth camera is acquired by projecting the structured light patterns by coding to object space by object space
The structure light image of reflection, and image depth information is obtained after further calculating.3D may be implemented based on the depth image
The various functions such as modeling, recognition of face, gesture interaction, simultaneously because structure light depth camera has high resolution, precision height, function
Low advantage is consumed, has been widely used on the smart machines such as mobile phone, computer, robot, virtual reality and augmented reality.
However, structure light depth camera is also faced with severe test at present.Such as when structure light depth camera is in outdoor
In application, the intensity due to environment light and the structure light image intensity quite even meeting that is projected out in the equal stronger scene of environment light
More than structure light image intensity, thus the accuracy of collected structure light image can be seriously affected, and then influence depth image
Calculating.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of structure light image acquisition methods, to solve to tie in the prior art
Structure optical depth camera acquires the low technical problem of structure light image accuracy.
The first aspect of the embodiment of the present invention provides a kind of structure light image acquisition methods, comprising:
According to default projection frequency and frequency acquisition, to projective structure light in space to be measured and multiple image is acquired, it is described more
Frame image includes at least the first image and the second image, and the first image includes ambient light information, and second image includes
Ambient light information and structure optical information；
According to the multiple image, judge whether the space to be measured is in dynamic；
If the space to be measured is in dynamic, 3D noise reduction process is carried out to the multiple image；
Export accurate structure light image.
The second aspect of the embodiment of the present invention provides a kind of structure light image acquisition device, comprising:
Projection module is used for projective structure light in space to be measured；
Acquisition module, for acquiring image；
Data processing module, for controlling the projection frequency of the projection module and the acquisition frequency of the acquisition module
Rate makes it according to default projection frequency and frequency acquisition, to projective structure light in space to be measured and acquires multiple image, the multiframe
Image includes at least the first image and the second image, and the first image includes ambient light information, and second image includes ring
Border optical information and structure optical information；
For judging whether the space to be measured is in dynamic according to the multiple image, if the space to be measured is in
Dynamically, then 3D noise reduction process is carried out to the multiple image；
For exporting accurate structure light image.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
The step of realizing the above method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
The step of media storage has computer program, and the above method is realized when the computer program is executed by processor.
In the embodiment of the present invention, by controlling projection frequency and frequency acquisition, the two is no longer corresponded, so that
The first image and the second image are included at least in the multiple image of acquisition, wherein the first image only includes ambient light information, second
Image then includes ambient light information and structure optical information, by being compared and analyzed to the first image and the second image, so as to
To effectively remove the influence of environment light, the precision of the structure light image of acquisition is improved.Moreover, image procossing is being carried out
Before, judge whether space to be measured is in dynamic scene, and corresponding processing mode is selected according to judging result, further
The precision of the structure light image of acquisition is improved, therefore image depth information obtained is also more accurate.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of structure light image acquisition device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of data processing module in structure light image acquisition device provided in an embodiment of the present invention；
Fig. 3 is the implementation process schematic diagram one of structure light image acquisition methods provided in an embodiment of the present invention；
Fig. 4 is the implementation process schematic diagram two of structure light image acquisition methods provided in an embodiment of the present invention；
Fig. 5 is the implementation process schematic diagram three of structure light image acquisition methods provided in an embodiment of the present invention；
Fig. 6 is the implementation process schematic diagram four of structure light image acquisition methods provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is a kind of structural schematic diagram of structure light image acquisition device 10 provided in this embodiment, and structure light image obtains
Device 10 is taken to calculate image depth information for obtaining structure light image, and according to structure light image.Structure light image obtains dress
Setting 10 includes projection module 11, acquisition module 12 and data processing module 13, projection module 11 and acquisition module 12 with number
It is connected according to processing module 13.Certainly, structure light image acquisition device 10 can also include other modules, not listed here.
Projection module 11 includes light source and optical module (optical module may include diffraction optical element etc.) etc., wherein
Light source is used for 20 projective structure light of space to be measured, and structure light can be the structure light with random speckle texture structure herein,
It is also possible to linear light, it is not limited here.The structure light that light source is projected can be formed in space 20 to be measured it is random or
The projection pattern of regular distribution, acquisition module 12 is then for acquiring these projection patterns.In actual use, it is contemplated that environment
The presence of light, the image of 12 actual acquisition of acquisition module include being formed by the environment light and structure light of 20 surface reflection of space to be measured
Image.Data processing module 13 can receive the image of the acquisition of acquisition module 12 and storage, while identify the knot in the image
Structure light image, and light image calculates image depth information according to this structure.Optionally, light source is infrared light supply, can be to be measured
Space 20 projects infrared light, and 12 phase of acquisition module should be infrared camera, and the structure light that infrared light supply is projected can be to be measured
The projection pattern of random or regular distribution is formed in space 20, acquisition module 12 can collect these projection patterns.
Certainly, in other embodiments, light source may be other types, be not limited in above-mentioned situation.
Data processing module 13 can be with the projection frequency f of synchronously control projection module 111With the acquisition frequency of acquisition module 12
Rate f2, frequency acquisition f2With projection frequency f1Difference, so that can staggeredly be generated after acquisition module 12 acquires image every time
Including at least the multiple image (the first image and the second image be different frame image) of the first image and the second image, wherein first
Image includes ambient light information, and the second image includes ambient light information and structure optical information.It should be understood that herein first
It is convenient that image and the second image are intended merely to description, and being also possible to the first image includes ambient light information and structure optical information, the
Two images include ambient light information, herein with no restrictions.
Fig. 3 shows a kind of implementation flow chart of structure light image acquisition methods provided in an embodiment of the present invention, this method
Can be executed by structure light image acquisition device, structure light image acquisition device is configured in mobile terminal, can by software realization,
It can also can also be realized jointly by software and hardware by hardware realization.As shown in figure 3, structure light image acquisition methods can wrap
Include following steps:
Step S10: according to default projection frequency and frequency acquisition, to projective structure light in space to be measured and multiframe figure is acquired
Picture, multiple image include at least the first image and the second image, and the first image includes ambient light information, and the second image includes environment
Optical information and structure optical information.
Embodiment illustrated in fig. 1 is please referred to, the projection module 11 in structure light image acquisition device 10 can be according to default projection
Frequency f1To 20 projective structure light of space to be measured, light source is chosen as infrared light supply in projection module 11, and structure light, which can be, to be had
The structure light of random speckle texture structure is also possible to linear light, it is not limited here.When being projected, data can be passed through
Processing module 13 controls projection module 11, and projective module group 11 is projected according to default projection frequency periodicity
Structure light out, such as light source are periodically lit or extinguish.
Project frequency f1Corresponding projection cycle T1For 1/f1, in a projection cycle T1In, infrared light supply has pre-
Fixed lights period T11With extinguishing period T12(T1=T11+T12), infrared light supply is extinguishing period T12It is interior will not projective structure light,
Lighting period T11It is interior can be to 20 projective structure light of space to be measured.Infrared light supply alternately can be lighted and be extinguished, and light
Period T11With extinguishing period T12Duration may be the same or different, can according to need and be configured.Light source herein
Project cycle T1It can be configured according to actual needs, such as can be first to extinguish and light up as a cycle afterwards, be also possible to
First extinguish and then continuously light twice as a cycle, can also be other forms, herein with no restrictions.
In order to meet laser safety standard requirement and power consumption etc. the considerations of, structure light that projection module 11 is projected
Brightness is usually lower, therefore is not easy to be distinguished with strong environment light, when under the strong environment of environmental light intensity in use, ring
Border light is easy to interfere structure light, so that the structure light image accuracy that acquisition module 12 acquires substantially reduces.Although
It is contemplated that reducing the interference of reflection of ambient light using the filter of degree of precision, or come using the amplifier of degree of precision
The reflection laser of amplification target wave band, but the above method will increase the complexity and production cost of circuit structure, be unfavorable for
The miniaturization and low cost control of structure light image acquisition device 10.
Embodiment illustrated in fig. 1 is please referred to, the acquisition module 12 in structure light image acquisition device 10 can be according to default acquisition
Frequency f2Acquire the image that space 20 to be measured is reflected.When light source is infrared light supply in projection module 11, acquisition module 12 is optional
For infrared camera；The structure light that infrared light supply is projected can form the throwing of random or regular distribution in space 20 to be measured
Shadow pattern, acquisition module 12 then acquire these projection patterns.In actual use, it is contemplated that the presence of environment light, acquisition module
The image of 12 actual acquisitions includes the image formed by the environment light and structure light of 20 surface reflection of space to be measured.
When carrying out Image Acquisition, acquisition module 12 can be controlled by data processing module 13.Frequency acquisition f2
With projection frequency f1Difference, so that the multiple image that acquisition module 12 can acquire includes at least the image with ambient light information
And the image with ambient light information and structure optical information.When acquisition module 12 is in the extinguishing period T of infrared light supply12Acquisition figure
When picture, the image of acquisition only includes ambient light information；When acquisition module 12 lights period T in infrared light supply11Acquire image
When, the image of acquisition then includes ambient light information and structure optical information.
In one embodiment, the projection frequency f of projective module group 111With the frequency acquisition f of acquisition mould group 122Ratio model
It encloses are as follows: 1/2≤f1/f2<1.For example, the projection frequency f of projective module group 111For the frequency acquisition f for acquiring mould group 122Half (f1/
f2=1/2), consider projection frequency f1For 30fps (Frame per Second, display frame number per second), frequency acquisition f2For
60fps.In acquisition 12 acquired image of mould group, the first image I1Corresponding includes ambient light information, the second image I2Corresponding packet
Containing ambient light information and structure optical information, then there is structure light image I at this time20=I2-I1.For another example, frequency f is projected1It can also be greater than
Frequency acquisition f2Half, consider projection frequency f1For 40fps, frequency acquisition f2For 60fps.It is collected in acquisition mould group 12
In image, I1Corresponding ambient-light images, I2And I3Corresponding includes the structure light image of environment light, at this time the second image I2And third
Image I3In structure light image be respectively I20=I2-I1, I30=I3-I1.Here using the ambient light information of first frame as continuous
Ambient light information in two field pictures considers, can effectively promote the frame per second of depth image.Certainly, frequency f is projected1And acquisition
Frequency f2It may be other values, be not limited in above-mentioned situation.
It should be understood that above-mentioned to the first image I1With the second image I2Processing mode be only applicable to static scene, or
Person says the mobile situation more slow for frequency acquisition of dynamic scene；And for dynamic scene, above-mentioned processing mode
Precision will reduce, need by the way of 3D noise reduction process.Therefore, it before selecting corresponding processing mode, needs to treat
Survey whether space 20 is judged in dynamic.
Step S20: according to multiple image, judge whether space to be measured is in dynamic.
Wherein, multiple image refers to that the 12 collected multiple image of institute of acquisition module, the multiple image include at least first
Image and the second image.After data processing module 13 receives and stores the multiple image of the acquisition of acquisition module 12, and according to multiframe
Image come to space to be measured whether be in dynamic judge, to further confirm that the processing mode that should be taken image, from
And it help to obtain more accurate structured light patterns.Referring to Fig. 2, in one embodiment, data processing module 13 includes connecing
Unit 131 is received, for receiving the multiple image of the acquisition of acquisition module 12.
Referring to Fig. 4, in one embodiment, data processing module 13 judges whether space 20 to be measured is in dynamic side
Method can be as follows:
Step S201: the pattern-information that identification structure light is formed.
Step S202: according to pattern-information, the first image and the second image are determined.
Referring to Fig. 2, the structure light that infrared light supply is projected can be formed in space 20 to be measured it is random or regular
Image is sent to data processing module 13 after acquisition mould group 12 acquires the image in space 20 to be measured by the projection pattern of distribution, number
It include recognition unit 132, the pattern-information that structure light is formed for identification according to processing module 13.It is acquired due to acquisition mould group 12
Image includes multiple image, includes environment light and structure light in some images wherein only include environment light in some images, therefore
It needs to be determined that the first image and the second image, so as to further progress image procossing.
Step S203: according to the first image and the second image, judge whether the exercise intensity in space to be measured is more than judgement threshold
Value.
Referring to Fig. 2, motion strength threshold can be set and (judge when judging the dynamic quiescent conditions in space 20 to be measured
Threshold value), data processing module 13 includes judging unit 133, and judging unit 133 can be according to the first image and the second figure of acquisition
As come the exercise intensity that obtains space 20 to be measured, and the exercise intensity is compared with preset motion strength threshold, judgement
Whether the exercise intensity in space to be measured is more than the motion strength threshold.
If the exercise intensity in space 20 to be measured is no more than motion strength threshold:
Step S204: it determines that space to be measured is among static scene, then continues following steps S40.
Step S40: the first image and the second image are compared and analyzed.
When space 20 to be measured is among static scene, it is believed that the environment light in static scene does not occur obviously
Variation, the first image I1With the second image I2In the part that distinguishes just be whether comprising structure light, therefore data processing module 13
When performing image processing, it is only necessary to by the first image I1With the second image I2It compares and analyzes.Referring to Fig. 2, one
In a embodiment, data processing module 13 further includes comparative analysis unit 134, for the first image I1With the second image I2Into
Row comparative analysis obtains structure light image I20=I2-I1。
If the exercise intensity in space 20 to be measured is more than motion strength threshold:
Step S205: determine that space to be measured is among dynamic scene.
When space 20 to be measured is among dynamic scene, the background due to dynamic scene is constantly changing, thus
Ambient light also can constantly change, and cause in the multiple image collected of acquisition module 12, the first image I1With the second figure
As I2Environment light be all different, if only by the first image I1With the second image I2Carry out simple comparative analysis, knot obtained
Structure light image I20Error is very big, it is therefore desirable to 3D noise reduction process is carried out to multiple image, to obtain more accurate structure light
Image.
If space to be measured is in dynamic:
Step S30: 3D noise reduction process is carried out to multiple image.
Referring to Fig. 5, data processing module 13 is by comparing adjacent a few frame images, by it when carrying out 3D noise reduction process
In nonoverlapping information (partial information is wave of making an uproar caused by the factors such as environment light) filter out, to obtain pure structure light
Image, a kind of possible operating procedure can be as follows:
Step S301: the current block in current frame image is determined.
Referring to Fig. 2, data processing module 13 includes 3D noise reduction unit 135,3D noise reduction unit 135 is first by present frame figure
It may include multiple pixels in current block as being divided into the current block with certain pixel size, and be basic place with the current block
Manage unit.
Step S302: the match block of current block is searched in the consecutive frame image of current frame image.
When scanning for, search window is determined according to the current block in present frame first, optionally, the size of search window with
The size of current block is identical.The consecutive frame image of selected present frame is as object search, for example, it is contemplated that the former frame figure of present frame
As being used as object search, is scanned for, found and the most like ginseng of current block in previous frame image according to scheduled search window
Block is examined, and sets the reference block to correspond to the optimal match block of current block in previous frame image.
In one embodiment, MAD algorithm (Mean Absolute can be used in the search of match block
Differences, abbreviation MAD algorithm) Lai Shixian, basic mode can be with are as follows: takes in previous frame image and current block size
Identical search window calculates its similarity with current block；Entire previous frame image is traversed, in all reference blocks that can be got
In, the reference block most like with current block (mean absolute difference is smaller, then both surfaces are more similar) is found, and the reference block is made
For with the optimal match block of current block (with the smallest reference block of current block mean absolute difference).In other embodiments, certainly,
Search with block can also use other modes, be not limited in above-mentioned mode, herein with no restrictions.
In one embodiment, when carrying out matching block search using above-mentioned MAD algorithm, the pixel calculated is participated in
Quantity, which can according to need, to be configured.
For example, all pixels for including in current block both participate in calculating, needing at this time in search will be in search window
All pixels and current block in all pixels calculated, to obtain the mean absolute difference of each search window, this
The result precision that sample calculates is higher, but since the pixel quantity for participating in calculating is huge, increases whole calculation amount.
For another example, in order to reduce calculation amount, only the partial pixel in current block can be added in calculating, participate in calculating
Partial pixel can according to need to be determined in current block again；It needs to select in search corresponding with current block in search window
Pixel calculated, to obtain the mean absolute difference of each search window.All pixels in current block are formed one
Set, this partial pixel set for participating in calculating at this time are exactly the subset of current block.Therefore above-mentioned searching method can also be at
For subset matching method.Since the pixel quantity for participating in calculating in subset matching method is few, calculation amount is greatly reduced, so as to effective
Shorten average search time.
Step S303: according to the similarity of current block and match block, judge whether to search for successfully；
In order to guarantee the reliability on frame filter boundary, need to judge that match block and the matching degree of current block are (i.e. similar
Degree).This is because during above-mentioned scan for, mean absolute difference is only able to find in previous frame image between current block most
Small reference block, but not can guarantee whether the similitude between the reference block and current block meets the requirements.For example, arbitrarily taking a frame
Image not comprising current block, using above-mentioned MAD algorithm, it is also possible to obtain one and the immediate matching of current block
Block, but match block is even more like only with respect to other reference blocks and current block, but its mean absolute difference is possible to
It is very big, cause the match block that may and not include the information of current block.
Therefore it in order to improve search effect and searching accuracy, after obtaining match block, needs to judge match block and works as
Preceding piece of matching degree.In one embodiment, when judging the matching degree of match block and current block, can by match block with
The mean absolute difference (MAD value) of current block is compared with preset threshold, if mean absolute difference is not more than preset threshold,
Then show that the matching degree of match block and current block is high, matching degree meets preset requirement, thinks to search for successfully at this time, and then right
The adjacent image of the previous frame image carries out the search of match block.If the mean absolute difference is greater than preset threshold, show
Match block is low with the matching degree of current block, and matching degree is unsatisfactory for preset requirement, thinks search failure at this time, no longer right at this time
The adjacent image of the previous frame image carries out the search of match block, avoids invalid search；Return step S10, data processing mould
Block 13 controls projective module group 11 and acquisition mould group 12 respectively according to default projection frequency f1With frequency acquisition f2Carry out project structured light
And Image Acquisition.
Further, if searching for successfully:
Step S304: frame filter processing is carried out.
By above-mentioned search process, the match block to match with current block is obtained in the consecutive frame image of current frame image
Later, motion profile of the current block in sequential frame image can be determined, so as to carry out interframe filter according to the motion profile
Wave.Since in continuous a few frame images, the information repeated includes structured light patterns, and since space 20 to be measured is in dynamic
Among scene, therefore environment light, in continuous variation, this partial information does not repeat then, therefore is carrying out frame filter
When, the information repeated can be retained, and by nonoverlapping Information Filtration, it is hereby achieved that pure structure light image.
When space to be measured is among static scene, after completing step S40, and when space to be measured is in dynamic scene
Among, after completing step S304, then follow the steps below:
Step S50: accurate structure light image is exported.
Referring to Fig. 2, data processing module 13 further includes output unit 136 and computing unit 137, wherein output unit
136 for export structure light image to computing unit 137, and computing unit 137 is used to calculate picture depth according to structure light image
Information.After obtaining pure structure light image through the above way, need to export structure light image to depth information calculating
Unit 137, further to calculate the depth information of structure light image.
In one embodiment, space 20 to be measured is among static scene, and structure light image is data processing module 13
By the first image I1With the second image I2Compare and analyze (such as I20=I2-I1) after obtain, the structure light figure that exports at this time
The picture as corresponding structure light image of static scene.
In one embodiment, space 20 to be measured is among dynamic scene, and structure light image is data processing module 13
Using what is obtained after 3D noise reduction process, the structure light image exported at this time is the corresponding structure light image of dynamic scene.
Referring to Fig. 6, in one embodiment, after step S50 further include:
Step S60: according to structure light image, image depth information is calculated.
Depth information computing unit 137 carries out image depth information calculating after receiving structural light image information, thus
The depth information of image can be obtained.Since received structure light image is purer, precision is higher, therefore calculates obtained
Image depth information is also more accurate.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment,
The execution sequence of each process should be determined by its function and internal logic, and the implementation process without coping with the embodiment of the present invention, which is constituted, appoints
What is limited.
The beneficial effect of structure light image acquisition methods provided in this embodiment is:
Currently, the considerations of in order to meet the requirement of laser safety standard and power consumption etc., what projection module 11 was projected
Structure brightness is usually lower, therefore is not easy to be distinguished with strong environment light, makes when under the strong environment of environmental light intensity
Used time, since outdoor environment light is stronger, when ambient light intensity and the structure light image intensity of projection are quite even more than structure light
When image intensity, the accuracy of collected structure light image can be seriously affected, so that the structure light figure that acquisition module 12 acquires
As accuracy substantially reduces, and then the calculating of influence depth image.Although it is contemplated that being dropped using the filter of degree of precision
The interference of low ambient light reflection, or carry out using the amplifier of degree of precision the reflection laser of amplification target wave band, but can increase
It is powered on the complexity and production cost of line structure, is unfavorable for the miniaturization and low cost control of structure light image acquisition device 10.
The present embodiment then proposes a kind of completely new scheme.Firstly, by controlling projection frequency and frequency acquisition,
The two no longer corresponds, so that the first image and the second image are included at least in the multiple image of acquisition, wherein the first image
It only include ambient light information, the second image then includes ambient light information and structure optical information, by the first image and the second figure
As comparing and analyzing, so as to effectively remove the influence of environment light, the precision of the structure light image of acquisition is improved.Its
It is secondary, before performing image processing, judge whether space to be measured is in dynamic scene, and selected accordingly according to judging result
Processing mode, further improve the precision of the structure light image of acquisition, therefore image depth information obtained is also more
Accurately.
Fig. 7 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in fig. 7, the terminal of the embodiment is set
Standby 70 include: processor 71, memory 72 and are stored in the memory 72 and can run on the processor 71
Computer program 73, such as structure light image obtain program.The processor 71 is realized when executing the computer program 73
State the step in structure light image acquisition methods embodiment, such as step 201 shown in Fig. 2 is to step 205.Alternatively, the place
Reason device 71 realizes the function of each module/unit in above-mentioned each Installation practice, such as Fig. 7 institute when executing the computer program 73
Show the function of unit 131 to 135.
Illustratively, the computer program 73 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 72, and are executed by the processor 71, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 73 in the terminal device 70 is described.
The terminal device 70 can be the terminal devices such as desktop computer, laptop or PAD.The terminal device
70 may include, but be not limited only to, processor 71, memory 72.It will be understood by those skilled in the art that Fig. 7 is only that terminal is set
Standby 70 example, does not constitute the restriction to terminal device 70, may include than illustrating more or fewer components, or combination
Certain components or different components, for example, the terminal device can also include input-output equipment, network access equipment,
Bus etc..
Alleged processor 71 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 72 can be the internal storage unit of the terminal device 70, for example, terminal device 80 hard disk or
Memory.The memory 72 is also possible to the External memory equipment of the terminal device 70, such as matches on the terminal device 70
Standby plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD)
Card, flash card (Flash Card) etc..Further, the memory 72 can also both include the inside of the terminal device 70
Storage unit also includes External memory equipment.The memory 72 is for storing the computer program and the terminal device
Other required programs and data.The memory 72 can be also used for temporarily storing the number that has exported or will export
According to.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of structure light image acquisition methods characterized by comprising
According to default projection frequency and frequency acquisition, to projective structure light in space to be measured and multiple image is acquired, the multiframe figure
As including at least the first image and the second image, the first image includes ambient light information, and second image includes environment
Optical information and structure optical information；
According to the multiple image, judge whether the space to be measured is in dynamic；
If the space to be measured is in dynamic, 3D noise reduction process is carried out to the multiple image；
Export accurate structure light image.
2. structure light image acquisition methods as described in claim 1, which is characterized in that it is described according to the multiple image, sentence
Whether the space to be measured of breaking is between dynamic steps and the accurate structure light image step of the output, further includes:
If the space to be measured is in static state, the first image and second image are compared and analyzed into processing.
3. structure light image acquisition methods as described in claim 1, which is characterized in that it is described according to the multiple image, sentence
Break the space to be measured whether in dynamic steps include:
Identify the pattern-information that structure light is formed；
According to the pattern-information, the first image and second image are determined；
According to the first image and second image, judge whether the exercise intensity in the space to be measured is more than judgement threshold
Value；
If the exercise intensity in the space to be measured is more than judgment threshold, it is determined that the space to be measured is in dynamic；
If the exercise intensity in the space to be measured is no more than judgment threshold, it is determined that the space to be measured is in static state.
4. structure light image acquisition methods as described in claim 1, which is characterized in that the 3D noise reduction process includes:
Determine the current block in current frame image；
The match block of the current block is searched in the consecutive frame image of the current frame image；
According to the similarity of the current block and the match block, judge whether to search for successfully；
If searching for successfully, frame filter processing is carried out.
5. structure light image acquisition methods as claimed in claim 4, which is characterized in that the consecutive frame in the present frame
The match block step that the current block is searched in image includes:
Determine the search range in the front and back consecutive frame image of the present frame；
Calculate the MAD algorithm value of search range and the current block；
Determine that the smallest search range of MAD algorithm value is match block.
6. structure light image acquisition methods as claimed in claim 4, which is characterized in that described according to the current block and described
The similarity of match block judges whether that searching for successfully step includes:
Whether the MAD algorithm value for judging the match block and the current block is more than threshold value；
If being no more than threshold value, it is determined that search for successfully；
If being more than threshold value, it is determined that search is unsuccessful, be back to it is described according to default projection frequency and frequency acquisition, to sky to be measured
Between projective structure light and acquire multiple image step.
7. structure light image acquisition methods as described in any one of claims 1 to 6, which is characterized in that the output is accurate
After structure light image step, further includes:
According to the structure light image, image depth information is calculated.
8. a kind of structure light image acquisition device characterized by comprising
Projection module is used for projective structure light in space to be measured；
Acquisition module, for acquiring image；
Data processing module makes for controlling the projection frequency of the projection module and the frequency acquisition of the acquisition module
It to projective structure light in space to be measured and acquires multiple image, the multiple image according to default projection frequency and frequency acquisition
Including at least the first image and the second image, the first image includes ambient light information, and second image includes environment light
Information and structure optical information；
For judging whether the space to be measured is in dynamic according to the multiple image, if the space to be measured is in dynamic,
3D noise reduction process then is carried out to the multiple image；
For exporting accurate structure light image.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1~7 when executing the computer program
The step of described in any item methods.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1~7 of realization the method.
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