CN109996008A - It is a kind of to reduce the method, device and equipment interfered between more depth camera systems - Google Patents
It is a kind of to reduce the method, device and equipment interfered between more depth camera systems Download PDFInfo
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- CN109996008A CN109996008A CN201910203643.9A CN201910203643A CN109996008A CN 109996008 A CN109996008 A CN 109996008A CN 201910203643 A CN201910203643 A CN 201910203643A CN 109996008 A CN109996008 A CN 109996008A
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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Abstract
The present invention is suitable for image acquisition technology, provide a kind of method for reducing and interfering between more depth camera systems, device and equipment, the method interfered between more depth camera systems that reduces includes the light source for closing the first depth camera, and the camera for controlling the first depth camera acquires the image in object space under bias light, calculate the intensity of illumination of bias light in the image of acquisition, obtain the first illumination intensity value, judge whether the first illumination intensity value obtained exceeds preset value, if the first illumination intensity value obtained exceeds preset value, then adjust the frequency acquisition of the first depth camera, and continue to acquire image with frequency acquisition adjusted, calculate the intensity of illumination of bias light in the image for continuing acquisition, obtain the second illumination intensity value, judge whether the second illumination intensity value obtained exceeds the preset value, if the second illumination obtained Intensity value then opens the light source of the first depth camera without departing from the preset value, and continues to acquire image with current frequency acquisition.
Description
Technical field
The present invention relates to image acquisition technology more particularly to a kind of reduce the side interfered between more depth camera systems
Method, device, equipment and computer readable storage medium.
Background technique
Depth camera, be otherwise known as 3D camera, refers to the depth of field distance being capable of detecting when in shooting space by the camera.
In order to expand the acquisition visual field, it will usually the acquisition of image data is carried out together using multiple depth cameras, however this
Kind way often makes in the image of each depth camera acquisition comprising aliasing pattern, the calculating of influence depth image.
The projection pattern in the prior art for only acquiring single source is deep based on reference planes matching primitives overlapping pattern
The method of degree information is often more complicated and anti-jamming effectiveness is poor, is unfavorable for quickly improving the accuracy of depth calculation.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, reducing the method, apparatus interfered between more depth camera systems the embodiment of the invention provides a kind of and setting
It is standby, by only changing in more depth camera systems the frequency acquisition of a camera and projection frequency, to each other dry can be reduced
It disturbs, is conducive to the accuracy for quickly improving depth calculation.
The first aspect of the embodiment of the present invention provides a kind of method for reducing and interfering between more depth camera systems, described more
Depth camera system includes at least two depth cameras, and the depth camera includes light source and camera, the depth camera
Projection frequency changes with the change of frequency acquisition, which comprises
The light source of the first depth camera is closed, and controls the interior back of camera acquisition object space of first depth camera
Image under scape light；
The intensity of illumination of bias light in the described image of acquisition is calculated, the first illumination intensity value is obtained；
Judge whether first illumination intensity value obtained exceeds preset value；
If first illumination intensity value obtained exceeds preset value, the acquisition frequency of first depth camera is adjusted
Rate, and continue to acquire image with frequency acquisition adjusted；
The intensity of illumination for calculating bias light in the image for continuing acquisition, obtains the second illumination intensity value；
Judge whether second illumination intensity value obtained exceeds the preset value；
If second illumination intensity value obtained opens the light of first depth camera without departing from the preset value
Source, and continue to acquire image with current frequency acquisition.
The second aspect of the embodiment of the present invention provides a kind of device for reducing and interfering between more depth camera systems, described more
Depth camera system includes at least two depth cameras, and the depth camera includes light source and camera, the depth camera
Projection frequency changes with the change of frequency acquisition, and described device includes:
Closedown module, for closing the light source of the first depth camera, and the camera for controlling first depth camera is adopted
Collect the image in object space under bias light；
It is strong to obtain the first illumination for calculating the intensity of illumination of bias light in the described image acquired for first computing module
Angle value；
First judgment module, for judging whether first illumination intensity value obtained exceeds preset value；
Module is adjusted, if first illumination intensity value for acquisition exceeds preset value, adjusts first depth
The frequency acquisition of camera, and continue to acquire image with frequency acquisition adjusted；
It is strong to obtain the second illumination for calculating the intensity of illumination of bias light in the image for continuing acquisition for second computing module
Angle value；
Second judgment module, for judging whether second illumination intensity value obtained exceeds the preset value；
Opening module, if second illumination intensity value for acquisition without departing from the preset value, opens described the
The light source of one depth camera, and continue to acquire image with current frequency acquisition.
The third aspect of the embodiment of the present invention provides a kind of equipment for reducing and interfering between more depth camera systems, including deposits
Reservoir, processor and storage are on a memory and the computer program that can run on a processor, above-mentioned processor execution are above-mentioned
Method mentioned in the first aspect is realized when computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, above-mentioned computer program realizes method mentioned in the first aspect when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, being first shut off first
The light source of depth camera, and the camera for controlling first depth camera acquires the image in object space under bias light, so
It calculates the intensity of illumination of bias light in the described image of acquisition afterwards, obtains the first illumination intensity value, then judge to obtain described the
Whether one illumination intensity value exceeds preset value, if first illumination intensity value obtained exceeds preset value, adjusts described the
The frequency acquisition of one depth camera, and continue to acquire image with frequency acquisition adjusted, then calculate the image for continuing acquisition
The intensity of illumination of middle bias light obtains the second illumination intensity value, finally judges whether second illumination intensity value obtained surpasses
The preset value out, if second illumination intensity value obtained opens the first depth phase without departing from the preset value
The light source of machine, and continue to acquire image with current frequency acquisition.Compared with prior art, the embodiment of the present invention is by only changing
The frequency acquisition of a camera and projection frequency, can reduce interference to each other, be conducive to quickly in more depth camera systems
The accuracy of depth calculation is improved, there is stronger usability and practicality.
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 any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1-a is the process signal for reducing the method interfered between more depth camera systems that the embodiment of the present invention one provides
Figure；
Fig. 1-b is the structural schematic diagram for more depth camera systems that the embodiment of the present invention one provides；
Fig. 2-a is the process signal of the method provided by Embodiment 2 of the present invention for reducing and interfering between more depth camera systems
Figure；
Fig. 2-b is the schematic diagram provided by Embodiment 2 of the present invention for increasing the first depth camera exposure time at random；
Fig. 3-a is the process signal for reducing the method interfered between more depth camera systems that the embodiment of the present invention three provides
Figure；
Fig. 3-b is the schematic diagram that the multiple depth cameras of delay that the embodiment of the present invention three provides open exposure；
Fig. 4 is the structural schematic diagram for reducing the device interfered between more depth camera systems that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram for reducing the equipment interfered between more depth camera systems that the embodiment of the present invention five provides.
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.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
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 the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1-a is the process signal for reducing the method interfered between more depth camera systems that the embodiment of the present invention one provides
Figure, this method may comprise steps of:
S101: closing the light source of the first depth camera, and controls the camera acquisition target empty of first depth camera
Image under interior bias light.
The method provided by the invention that interfere between more depth camera systems that reduces can be applied to assist in automobile industry
Drive vehicle, the external detection of vehicle body that multiple depth cameras can be deployed in unmanned automobile respectively at this time itself and neighbouring object
The distance between.Certain this method also can be applied in other equipment, such as being made of multiple mobile terminals (such as mobile phone)
In more depth camera systems.
More depth camera systems include at least two depth cameras；First depth camera is the depth camera
In any one, can be selected by the executing subject (processor of such as automobile) of the method；The depth camera packet
Include light source and camera；The object space is shooting space；The bias light is for illuminating subject background and surrounding ring
The light in border, the including but not limited to structure of environment light and other depth cameras projection in addition to first depth camera
Light；Generally, the projection frequency of the depth camera is configured to the change with frequency acquisition and changes.
In one embodiment, the light source of the depth camera is used for emitting structural light, such as transmitting infrared light or ultraviolet
Light, the infrared light that the structure light refers to that light source generates have certain structure, such as the speckle knot being made of multiple spots
Structure light.In addition, the light source also refers to the transmitter being made of laser or optical device.
In one embodiment, the depth camera includes at least two cameras, can be respectively for acquiring colour
The RGB camera of image and infrared camera for acquiring infrared structure light image.
In one embodiment, it controls in the infrared camera acquisition object space of first depth camera under bias light
Image.
In one embodiment, the infrared camera of first depth camera is controlled according to pre-set initial acquisition
The image under bias light in frequency collection object space.
S102: calculating the intensity of illumination of bias light in the described image of acquisition, obtains the first illumination intensity value.
The intensity of illumination refers to the luminous flux that visible light is received on unit area, and abbreviation illumination, unit is lux
(Lux/Lx), the power and body surface area degree to be illuminated of illumination are used to indicate.
In one embodiment, the light of bias light in the described image of acquisition can be calculated by the method for rough Statistics
According to intensity.
S103: judge whether first illumination intensity value obtained exceeds preset value.
In one embodiment, it needs first to determine the preset value before executing step S103.
It should be noted that if the judging result of step S103 is "Yes", S104 and its subsequent step are thened follow the steps；If
The judging result of step S103 is "No", thens follow the steps S107.
S104: the frequency acquisition of adjustment first depth camera, and continue to acquire image with frequency acquisition adjusted.
The image for wherein continuing to acquire still is the image in step S101 in object space under bias light.
It should be noted that the projection frequency due to the depth camera changes with the change of frequency acquisition,
After the frequency acquisition for adjusting first depth camera, the projection frequency of first depth camera also can be adjusted correspondingly
It is whole.
S105: the intensity of illumination of bias light in the image for continuing acquisition is calculated, the second illumination intensity value is obtained.
In one embodiment, described can be obtained using the method for the first illumination intensity value is obtained in step S102
Two illumination intensity values.
S106: judge whether second illumination intensity value obtained exceeds the preset value.
It should be noted that if the judging result of step S106 is "No", S107 is thened follow the steps；If step S106's sentences
Disconnected result is "Yes", then returns to step S104 and its subsequent step, until the illumination intensity value obtained again is without departing from institute
State preset value.
S107: opening the light source of first depth camera, and continues to acquire background image with current frequency acquisition.
It should be understood that the current frequency acquisition can be initial frequency acquisition, or acquisition frequency adjusted
Rate, the frequency acquisition adjusted are last time frequency adjusted.
For ease of description, only explained by taking the more depth camera systems being made of two depth cameras as an example below and
Explanation.As shown in Fig. 1-b, more depth camera systems include depth camera 101 and depth camera 102, the depth camera
101 infrared camera is 106, and the infrared structure light source of the depth camera 101 is 108, and the infrared structure light source 108 is thrown
The pattern that shadow is formed is 103, and the infrared camera of the depth camera 102 is 107, the infrared structure of the depth camera 102
Light source is 109, and the pattern that the projection of infrared structure light source 109 is formed is 104, and the overlapping region of pattern 103 and pattern 104 is
Pattern 105, the depth camera 101 and depth camera 102 are connect with the processor 110 on automobile, receive processor jointly
110 control.Under above-mentioned application scenarios, the method interfered between the more depth camera systems of reduction is specifically as follows logical first
Crossing processor 110 and closing the infrared structure light source 108 of depth camera 101 (can certainly be the infrared of closing depth camera 102
Structure light source 109), make the temporary not projective structure light of infrared structure light source 108, is not then sent out in the machine infrared structure light source 108
In the case where light, the image in the acquisition shooting of infrared camera 106 space of depth camera 101 under bias light is opened, and counting
It is compared after calculating illumination intensity value at this time with preset value, if exceeding preset value, shows the depth in current shooting space
Degree camera 102 infrared structure light source 109 be it is in the open state, in order to avoid infrared structure light source 109, need to adjust depth
The frequency acquisition of camera 101 is spent until the illumination intensity value of bias light is less than preset value in the image finally acquired, and ability is openable
The infrared structure light source 108 of the machine, even if continuing starting the infrared knot of depth camera 102 during subsequent acquired image at this time
Structure light source 109 will not collect overlapping pattern 105, and due to when changing the frequency acquisition of depth camera 101, the depth
The projection frequency of degree camera 101 can also change correspondingly, so even being the synchronous progress of infrared camera 107 of depth camera 102
The acquisition of image is also that will not collect overlapping pattern 105, thus can avoid 102 phase of depth camera 101 and depth camera
Interference between mutually.
It should be noted that the quantity of the processor 110 can be with more than one, when the processor 110 is depth phase
When the processor that machine 101 or depth camera 102 carry, the processor 110 can also be with the external processor (place on such as automobile
Manage device) it is connected.Certain processor 110 or other processors with similar functions.
Therefore in the embodiment of the present invention, by the frequency acquisition for only changing a camera in more depth camera systems
With projection frequency, interference to each other can be reduced, is conducive to the accuracy for quickly improving depth calculation, has stronger easy-to-use
Property and practicability.
Embodiment two
Fig. 2-a is the process signal of the method provided by Embodiment 2 of the present invention for reducing and interfering between more depth camera systems
Figure is may comprise steps of to the further refinement of the step S104 in above-described embodiment one and explanation, this method:
S201: closing the light source of the first depth camera, and controls the camera acquisition target empty of first depth camera
Image under interior bias light.
Above-mentioned steps S201 is identical as the step S101 in embodiment one, and specific implementation process can be found in step S101's
Description, so here is no more repetition.
S202: calculating the intensity of illumination of bias light in the described image of acquisition, obtains the first illumination intensity value.
In one embodiment, step S202 is specifically as follows:
According to the described image of acquisition, corresponding brightness histogram is drawn；
According to the brightness histogram of drafting, the intensity of illumination of bias light in the described image of acquisition is calculated.
It should be noted that the horizontal axis of the brightness histogram can be the overall brightness variation tendency of image, such as from
The left and right side is followed successively by completely black to Quan Bai, and the longitudinal axis of the brightness histogram can be all pixels point in a certain brightness section
Sum.
It should be understood that the bright-dark degree of image can be quickly understood according to the brightness histogram of drafting, to count
First illumination intensity value.
S203: judge whether first illumination intensity value obtained exceeds preset value.
In one embodiment, step S203 is specifically as follows:
Control the image in the camera acquisition object space of first depth camera under environment light；
The intensity of illumination of the described image of acquisition is calculated, third illumination intensity value is obtained, described image is the target of acquisition
Image in space under environment light；
According to the third illumination intensity value of acquisition, the preset value is determined.
It should be understood that all depth cameras when obtaining the third illumination intensity value, in more depth camera systems
Light source should all be in close state.
Under normal conditions in order to farthest drop low ambient light brought influence in projection on structure light, often
The intensity of illumination of structure light is arranged bigger than the intensity of illumination of environment light.Therefore, if being obtained under the premise of closing the machine light source
First illumination intensity value obtained exceeds preset value, then shows that other depth cameras must be contained in object space in bias light
Structure light.
It should be noted that can be using the side for obtaining the first illumination intensity value or the second illumination intensity value in embodiment one
Method obtains the third illumination intensity value.
S204: increasing or decreasing the exposure time of first depth camera at random, so that first depth camera
Frequency acquisition it is different from the frequency acquisition of other depth cameras in addition to first depth camera, and adopted with adjusted
Collection frequency continues to acquire image.
It should be understood that under the premise of the projection frequency of unknown other depth cameras in addition to first depth camera,
It, can be by the exposure time of first depth camera by increasing or decreasing the exposure time of first depth camera at random
There is duration and is staggered (to be partially staggered or completely wrong in pulse with other depth cameras in addition to first depth camera
Open), it is projected to reduce other depth cameras that first depth camera collects in addition to first depth camera
Pattern a possibility that, and due to the projection frequency of first depth camera can with first depth camera acquisition frequency
Rate changes, therefore other depth cameras in addition to first depth camera will not collect the first depth phase
The pattern that machine is projected, can achieve reduces the purpose interfered each other.
Fig. 2-b is the schematic diagram provided by Embodiment 2 of the present invention for increasing the first depth camera exposure time at random,
Wherein 201 be the corresponding timing diagram of the first depth camera frequency acquisition, and 202 be other in addition to first depth camera
Depth camera projects the corresponding pulse sequence figure of frequency, and 203 be a complete pulse period, and 204 be a complete acquisition
In the period, 205 be the width of a pulse.
S205: the intensity of illumination of bias light in the image for continuing acquisition is calculated, the second illumination intensity value is obtained.
S206: judge whether second illumination intensity value obtained exceeds the preset value.
S207: if second illumination intensity value obtained opens the first depth phase without departing from the preset value
The light source of machine, and continue to acquire image with current frequency acquisition.
Above-mentioned steps S205-S207 is identical as the step S105-S107 in embodiment one, and specific implementation process can be found in
The description of step S105-S107, so here is no more repetition.
Therefore adjustment the first depth camera acquisition frequency is given compared to one embodiment of the present invention two of embodiment
A kind of specific implementation of rate, can be in the projection frequency of unknown other depth cameras in addition to first depth camera
Under the premise of, adjustment the first depth phase is reached by increasing or decreasing the exposure time of first depth camera at random
Machine frequency acquisition and projection frequency purpose, be conducive to quickly improve depth calculation accuracy, have stronger ease for use and
Practicability.
Embodiment three
Fig. 3-a is the process signal for reducing the method interfered between more depth camera systems that the embodiment of the present invention three provides
Figure is may comprise steps of to the further refinement of the step S104 in above-described embodiment one and explanation, this method:
S301: closing the light source of the first depth camera, and controls the camera acquisition target empty of first depth camera
Image under interior bias light.
S302: calculating the intensity of illumination of bias light in the described image of acquisition, obtains the first illumination intensity value.
S303: judge whether first illumination intensity value obtained exceeds preset value.
Above-mentioned steps S301-S303 is identical as the step S201-S203 in embodiment two, and specific implementation process can be found in
The description of step S201-S203, so here is no more repetition.
S304: the exposure initial time of first depth camera is opened in delay according to the preset time interval, so that
The frequency acquisition of first depth camera and the frequency acquisition in other depth cameras in addition to first depth camera
Difference, and continue to acquire image with frequency acquisition adjusted.
In one embodiment, a complete sampling period T first can be divided into multiple delay intervals, then therefrom
The time interval that a delay interval needs to postpone to open exposure as first depth camera is randomly selected, if such as one
Complete sampling period T is 33ms, and the initial exposure duration t of first depth camera is 1.5ms, then can be between the delay of equal part
Every quantity n=T/t=33/1.5=22, this shows that first depth camera can have a possibility that 22 kinds of delay exposures, with
Machine selects one kind.
Certainly, if selection is simultaneously handled multiple depth cameras, more depth camera systems can be controlled simultaneously
In 22 depth cameras postpone respectively according to delay interval n1, n2..., n22 open exposure, wherein n1, n2..., n22 are mutual
It is not identical, it can be any one in set { 1,2..., T/t }.It should be understood that since such method is to each depth phase
Machine has carried out delay and has opened the operation of exposure, therefore will change the frequency acquisition and projection frequency of each depth camera, this
For the frequency acquisition and projection frequency that only change first depth camera, it will further decrease more depth cameras
Interference between system.Further, since this method is random therefrom one time delay interval of selection, therefore also correspond to indirectly change
Exposure sequence between multiple depth cameras.
Fig. 3-b is the schematic diagram that the multiple depth cameras of delay that the embodiment of the present invention three provides open exposure.
S305: the intensity of illumination of bias light in the image for continuing acquisition is calculated, the second illumination intensity value is obtained.
S306: judge whether second illumination intensity value obtained exceeds the preset value.
S307: if second illumination intensity value obtained opens the first depth phase without departing from the preset value
The light source of machine, and continue to acquire image with current frequency acquisition.
Above-mentioned steps S305-S307 is identical as the step S205-S207 in embodiment one, and specific implementation process can be found in
The description of step S205-S207, so here is no more repetition.
Therefore adjustment the first depth camera acquisition frequency is given compared to one embodiment of the present invention three of embodiment
Another specific implementation of rate can open the exposure initial time of first depth camera by delay to adjust
State the frequency acquisition and projection frequency of the first depth camera；In addition, the method for this delay start exposure can also be applied to institute
It states in multiple depth cameras in more depth camera systems, so that the frequency acquisition of each depth camera and projection frequency be made to send out
It is raw to change, be conducive to further decrease the interference between depth camera, to further increase the accuracy of depth calculation, have compared with
Strong usability and practicality.
Example IV
Fig. 4 is the structural schematic diagram for reducing the device interfered between more depth camera systems that the embodiment of the present invention four provides,
For ease of description, only parts related to embodiments of the present invention are shown.
The device interfered between the more depth camera systems of the reduction can be built in reduce more depth camera systems between interfere
Equipment in software unit, hardware cell or the unit of soft or hard combination, can also be used as independent pendant be integrated into it is described
It reduces in the equipment interfered between more depth camera systems.
More depth camera systems include at least two depth cameras, and the depth camera includes light source and camera,
The projection frequency of the depth camera changes with the change of frequency acquisition, interferes between the more depth camera systems of reduction
Device includes:
Closedown module 41 for closing the light source of the first depth camera, and controls the camera of first depth camera
Acquire the image in object space under bias light；
First computing module 42 obtains the first illumination for calculating the intensity of illumination of bias light in the described image acquired
Intensity value；
First judgment module 43, for judging whether first illumination intensity value obtained exceeds preset value；
Module 44 is adjusted, if first illumination intensity value for acquisition exceeds preset value, it is deep to adjust described first
The frequency acquisition of camera is spent, and continues to acquire image with frequency acquisition adjusted；
Second computing module 45 obtains the second illumination for calculating the intensity of illumination of bias light in the image for continuing acquisition
Intensity value；
Second judgment module 46, for judging whether second illumination intensity value obtained exceeds the preset value；
Opening module 47, if described in second illumination intensity value for acquisition without departing from the preset value, opens
The light source of first depth camera, and continue to acquire image with current frequency acquisition.
In one embodiment, the adjustment module 44 is specifically used for:
If first illumination intensity value obtained exceeds preset value, first depth camera is increased or decreased at random
Exposure time so that the frequency acquisition of first depth camera and other depth in addition to first depth camera
The frequency acquisition of camera is different, and continues to acquire image with frequency acquisition adjusted.
In one embodiment, the adjustment module 44 is specifically used for:
If first illumination intensity value obtained exceeds preset value, according to the preset time interval described in delay unlatching
The exposure initial time of first depth camera so that the frequency acquisition of first depth camera with remove the first depth phase
Frequency acquisition in other depth cameras other than machine is different, and continues to acquire image with frequency acquisition adjusted.
In one embodiment, the bias light includes environment light and/or other in addition to first depth camera
The structure light of depth camera projection.
In one embodiment, first computing module 42 is specifically used for:
According to the described image of acquisition, corresponding brightness histogram is drawn；
According to the brightness histogram of drafting, the intensity of illumination of bias light in the described image of acquisition is calculated.
In one embodiment, the horizontal axis of the brightness histogram is the overall brightness variation tendency of image, the brightness
The longitudinal axis of histogram is the sum of all pixels point in a certain brightness section.
In one embodiment, described device further include:
Determining module, the camera for controlling first depth camera acquire the figure in object space under environment light
Picture calculates the intensity of illumination of the described image of acquisition, obtains third illumination intensity value, and described image is in the object space of acquisition
Image under environment light determines the preset value according to the third illumination intensity value of acquisition.
Embodiment five
Fig. 5 is a kind of structural representation for reducing the equipment interfered between more depth camera systems that the embodiment of the present invention five provides
Figure.As shown in figure 5, a kind of equipment 5 interfered between more depth camera systems that reduces of the embodiment includes: processor 50, storage
Device 51 and it is stored in the computer program 52 that can be run in the memory 51 and on the processor 50.The processor
50 realize the step in above method embodiment one, such as step S101 shown in Fig. 1-a when executing the computer program 52
To S107.Alternatively, realizing the step in above method embodiment two, such as step S201 to S207 shown in Fig. 2-a.Alternatively,
Realize the step in above method embodiment three, such as step S301 to S307 shown in Fig. 3-a.The processor 50 executes institute
The function of each module/unit in above-mentioned each Installation practice, such as module 41 to 47 shown in Fig. 4 are realized when stating computer program 52
Function.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are executed by the processor 50, 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
The computer program 52 is described in a kind of implementation procedure reduced in the equipment 5 interfered between more depth camera systems.Example
Such as, the computer program 52 can be divided into closedown module, the first computing module, first judgment module, adjustment module, the
Two computing modules, the second judgment module and opening module, each module concrete function are as follows:
Closedown module, for closing the light source of the first depth camera, and the camera for controlling first depth camera is adopted
Collect the image in object space under bias light；
It is strong to obtain the first illumination for calculating the intensity of illumination of bias light in the described image acquired for first computing module
Angle value；
First judgment module, for judging whether first illumination intensity value obtained exceeds preset value；
Module is adjusted, if first illumination intensity value for acquisition exceeds preset value, adjusts first depth
The frequency acquisition of camera, and continue to acquire image with frequency acquisition adjusted；
It is strong to obtain the second illumination for calculating the intensity of illumination of bias light in the image for continuing acquisition for second computing module
Angle value；
Second judgment module, for judging whether second illumination intensity value obtained exceeds the preset value；
Opening module, if second illumination intensity value for acquisition without departing from the preset value, opens described the
The light source of one depth camera, and continue to acquire image with current frequency acquisition.
A kind of equipment interfered between more depth camera systems that reduces may include, but be not limited only to, processor 50, storage
Device 51.It will be understood by those skilled in the art that Fig. 5 is only a kind of showing for equipment 5 for reducing and interfering between more depth camera systems
Example, do not constitute between it is a kind of reduce more depth camera systems the restriction of equipment 5 interfered, may include more or more than illustrating
Few component is perhaps combined and is interfered between certain components or different components, such as a kind of more depth camera systems of reduction
Equipment can also include input-output equipment, network access equipment, bus etc..
The processor 50 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 51 can be a kind of storage inside list for reducing the equipment 5 interfered between more depth camera systems
Member, such as a kind of hard disk or memory for reducing the equipment 5 interfered between more depth camera systems.The memory 51 is also possible to institute
State a kind of External memory equipment of equipment 5 for reducing and interfering between more depth camera systems, such as a kind of more depth phases of reduction
The plug-in type hard disk being equipped in the equipment 5 of machine inter-system interference, intelligent memory card (Smart Media Card, SMC), safe number
Word (Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 51 can also be wrapped both
Including a kind of internal storage unit for reducing the equipment 5 interfered between more depth camera systems also includes External memory equipment.Institute
Memory 51 is stated for storing the computer program and described a kind of reducing the equipment institute interfered between more depth camera systems
Other programs and data needed.The memory 51 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 and simplicity of description, the system of foregoing description,
The specific work process of device and unit, 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.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond trend of the invention.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
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 unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and trend of technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of reduce the method interfered between more depth camera systems, which is characterized in that more depth camera systems include extremely
Few two depth cameras, the depth camera include light source and camera, and the projection frequency of the depth camera is with acquisition frequency
The change of rate and change, which comprises
The light source of the first depth camera is closed, and the camera for controlling first depth camera acquires bias light in object space
Under image；
The intensity of illumination of bias light in the described image of acquisition is calculated, the first illumination intensity value is obtained；
Judge whether first illumination intensity value obtained exceeds preset value；
If first illumination intensity value obtained exceeds preset value, the frequency acquisition of first depth camera is adjusted, and
Continue to acquire image with frequency acquisition adjusted；
The intensity of illumination for calculating bias light in the image for continuing acquisition, obtains the second illumination intensity value；
Judge whether second illumination intensity value obtained exceeds the preset value；
If second illumination intensity value obtained opens the light source of first depth camera without departing from the preset value,
And continue to acquire image with current frequency acquisition.
2. the method according to claim 1, wherein if first illumination intensity value obtained is beyond default
Value, then the frequency acquisition adjusted, and acquisition image is continued with frequency acquisition adjusted and includes:
If first illumination intensity value obtained exceeds preset value, the exposure of first depth camera is increased or decreased at random
Light time is long, so that the frequency acquisition of first depth camera and other depth cameras in addition to first depth camera
Frequency acquisition it is different, and continue to acquire image with frequency acquisition adjusted.
3. the method according to claim 1, wherein if first illumination intensity value obtained is beyond default
Value, then the frequency acquisition adjusted, and continue to acquire image with frequency acquisition adjusted further include:
If first illumination intensity value obtained exceeds preset value, delay opens described first according to the preset time interval
The exposure initial time of depth camera so that the frequency acquisition of first depth camera with except first depth camera with
Frequency acquisition in outer other depth cameras is different, and continues to acquire image with frequency acquisition adjusted.
4. method according to any one of claims 1 to 3, which is characterized in that the bias light includes environment light and/or removes
The structure light of other depth cameras projection other than first depth camera.
5. the method according to claim 1, wherein the illumination for calculating bias light in the described image of acquisition is strong
Degree, obtaining the first illumination intensity value includes:
According to the described image of acquisition, corresponding brightness histogram is drawn；
According to the brightness histogram of drafting, the intensity of illumination of bias light in the described image of acquisition is calculated.
6. according to the method described in claim 5, it is characterized in that, the horizontal axis of the brightness histogram is the overall brightness of image
Variation tendency, the longitudinal axis of the brightness histogram are the sum of all pixels point in a certain brightness section.
7. the method according to claim 1, wherein judging whether first illumination intensity value obtained surpasses
Out before preset value, further includes:
Control the image in the camera acquisition object space of first depth camera under environment light；
The intensity of illumination of the described image of acquisition is calculated, third illumination intensity value is obtained, described image is the object space of acquisition
Image under interior environment light；
According to the third illumination intensity value of acquisition, the preset value is determined.
8. a kind of reduce the device interfered between more depth camera systems, which is characterized in that more depth camera systems include extremely
Few two depth cameras, the depth camera include light source and camera, and the projection frequency of the depth camera is with acquisition frequency
The change of rate and change, described device includes:
Closedown module for closing the light source of the first depth camera, and controls the camera acquisition mesh of first depth camera
Mark the image in space under bias light；
First computing module obtains the first illumination intensity value for calculating the intensity of illumination of bias light in the described image acquired；
First judgment module, for judging whether first illumination intensity value obtained exceeds preset value；
Module is adjusted, if first illumination intensity value for acquisition exceeds preset value, adjusts first depth camera
Frequency acquisition, and with frequency acquisition adjusted continue acquire image；
Second computing module obtains the second illumination intensity value for calculating the intensity of illumination of bias light in the image for continuing acquisition；
Second judgment module, for judging whether second illumination intensity value obtained exceeds the preset value；
Opening module, if it is deep to open described first without departing from the preset value for second illumination intensity value for acquisition
The light source of camera is spent, and continues to acquire image with current frequency acquisition.
9. the equipment interfered between more depth camera systems is reduced a kind of, including memory, processor and is stored in the storage
In device and the computer program that can run on the processor, which is characterized in that the processor executes the computer journey
It realizes when sequence such as the step of any one of claims 1 to 7 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is such as the step of any one of claims 1 to 7 the method when the computer program is executed by processor.
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