CN112019835A - Frame rate verification device and method for dynamic vision sensor module and storage medium - Google Patents
Frame rate verification device and method for dynamic vision sensor module and storage medium Download PDFInfo
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Abstract
A frame rate verification device, method and storage medium of dynamic vision sensor module, the method includes: sending a first trigger signal to a light source and sending a second trigger signal to a dynamic vision sensor module; controlling the light source to change the brightness through the first trigger signal, and controlling the dynamic vision sensor module to acquire a brightness change event of the light source through the second trigger signal; and calculating the frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate. By implementing the embodiment of the application, the light source and the dynamic vision sensor module can be synchronously controlled, so that the dynamic vision sensor can acquire the brightness change event of the light source every time, the condition that the dynamic vision sensor loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved.
Description
Technical Field
The present disclosure relates to the field of sensor technologies, and in particular, to a frame rate verification apparatus and method for a dynamic vision sensor module, and a storage medium.
Background
The visual Sensor is an optical Sensor commonly used for acquiring images, such as a DVS (Dynamic Vision Sensor), which is a Sensor sensitive to brightness change of light, and can acquire a brightness change event whenever the brightness change exceeds a certain threshold, and has a high frame rate. At present, if the frame rate of the dynamic vision sensor module with a high frame rate is to be verified, the verification method usually utilizes a light source board to perform high-frequency flicker, and in the process, the dynamic vision sensor module can output a detection result of the frame rate of brightness change, but the frame loss situation often occurs easily, and the verification accuracy is reduced.
Disclosure of Invention
The embodiment of the application discloses a frame rate verification device and method of a dynamic vision sensor module and a storage medium, which can control a light source and the dynamic vision sensor module to be synchronous, effectively avoid the condition that the dynamic vision sensor module loses frames, and improve the accuracy of frame rate verification of the dynamic vision sensor module.
In a first aspect of the embodiments of the present application, a frame rate verification apparatus for a dynamic vision sensor module is disclosed, which includes a controller, a light source, and a dynamic vision sensor module, wherein the controller is respectively connected to the light source and the dynamic vision sensor module,
the controller is used for sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module;
the light source is used for carrying out brightness change according to the first trigger signal;
the dynamic vision sensor module is used for acquiring a brightness change event of the light source according to the second trigger signal;
the controller is further configured to calculate a frame rate of the dynamic vision sensor module according to the brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verify the frame rate.
By adopting the frame rate verification device, the synchronization of the light source and the dynamic vision sensor module can be controlled, the condition that the dynamic vision sensor module loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved.
As an optional implementation manner, in the first aspect of the embodiments of the present application, the controller is provided with a first control pin and a second control pin, the first control pin is connected to the trigger pin of the light source, the second control pin is connected to the trigger pin of the dynamic vision sensor module, wherein,
the controller sends the first trigger signal to the light source through the first control pin, and sends the second trigger signal to the dynamic vision sensor module through the second control pin.
By adopting the frame rate verification device, the light source and the dynamic vision sensor module can be independently controlled through the controller, so that the light source and the dynamic vision sensor module are controlled to be synchronous, but are triggered at different times.
As another optional implementation manner, in the first aspect of the embodiment of the present application, the controller is further configured to send the first trigger signal to the light source, and send the second trigger signal to the dynamic vision sensor module after waiting for a preset delay duration, where the delay duration is less than one cycle of the second trigger signal.
By adopting the frame rate verification device, the dynamic vision sensor module can be triggered after the brightness change of the light source is stable, so that the brightness difference can be sensed, and the brightness change event can be acquired.
A second aspect of the embodiments of the present application discloses a frame rate verification method for a dynamic vision sensor module, including:
sending a first trigger signal to a light source and sending a second trigger signal to a dynamic vision sensor module;
controlling the light source to change the brightness through the first trigger signal, and controlling the dynamic vision sensor module to acquire a brightness change event of the light source through the second trigger signal;
and calculating the frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate.
By implementing the frame rate verification method, the synchronization of the light source and the dynamic vision sensor module can be controlled, the condition that the dynamic vision sensor module loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved.
As an optional implementation manner, in the second aspect of the embodiments of the present application, before the sending the first trigger signal to the light source and the sending the second trigger signal to the dynamic vision sensor module, the method further includes:
controlling the light source and the dynamic vision sensor module to start simultaneously;
determining a target frequency from a preset adjustable frequency range, and taking the target frequency as a brightness change frequency of the light source for brightness change;
determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency;
and generating a first trigger signal according to the brightness change frequency, and generating a second trigger signal according to the sampling frequency.
By implementing the frame rate verification method, the initialization of the frame rate verification device can be completed, and the preparation is made for verifying the frame rate of the dynamic vision sensor module.
As another optional implementation manner, in the second aspect of the embodiments of the present application, the determining a sampling frequency of the dynamic vision sensor module according to the brightness change frequency includes:
determining the sampling multiple of the dynamic vision sensor module according to the type of a preset light source trigger signal;
determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency and the sampling multiple;
the generating a first trigger signal according to the brightness change frequency comprises:
and generating a first trigger signal corresponding to the type of the light source trigger signal according to the brightness change frequency.
By implementing the frame rate verification method, the sampling frequency of the dynamic vision sensor module can be determined according to the type of the light source trigger signal, so that the method is suitable for different types of the light source trigger signal and is beneficial to improving the flexibility of frame rate verification.
As another optional implementation manner, in the second aspect of the embodiments of the present application, the light source trigger signal type includes a pulse width modulation signal type, and the generating a first trigger signal corresponding to the light source trigger signal type according to the brightness change frequency includes:
determining a target duty ratio and a target signal frequency according to the brightness change frequency;
and generating a pulse width modulation signal with the target duty ratio and the target signal frequency, and using the pulse width modulation signal as a first trigger signal.
By implementing the frame rate verification method, the pulse width modulation signal with the target duty ratio and the target signal frequency can be generated according to the selected brightness change frequency, so that different frame rate verification requirements are met, and the flexibility of frame rate verification is favorably improved.
As another optional implementation manner, in the second aspect of the embodiment of the present application, the controlling, by the first trigger signal, the light source to perform brightness change, and controlling, by the second trigger signal, the dynamic vision sensor module to acquire a brightness change event of the light source includes:
controlling the light source to change the brightness when the level of the first trigger signal jumps through the first trigger signal, and keeping the current brightness when the level of the first trigger signal is stable;
and controlling the dynamic vision sensor module to acquire a brightness change event of the light source when the second trigger signal generates a positive pulse through the second trigger signal, wherein at least one positive pulse generated by the second trigger signal corresponds to the interval between every two adjacent level jumps of the first trigger signal.
By implementing the frame rate verification method, the dynamic vision sensor module can be ensured to be triggered before and after the brightness of the light source is changed, so that the brightness change event can be accurately collected, the frame loss condition can not occur, and the reliability of frame rate verification can be favorably ensured.
As another optional implementation manner, in the second aspect of the embodiments of the present application, the sending the first trigger signal to the light source and sending the second trigger signal to the dynamic vision sensor module includes:
and sending a first trigger signal to a light source, and sending a second trigger signal to the dynamic vision sensor module after waiting for a preset delay time, wherein the delay time is less than one period of the second trigger signal.
By implementing the frame rate verification method, the dynamic vision sensor module can be triggered after the brightness change of the light source is stable so as to sense the brightness difference, and therefore, the brightness change event is collected.
As another alternative, in the second aspect of the embodiment of the present application, the time when the second trigger signal generates the positive pulse is between two adjacent time points of level transition of the first trigger signal, and is at least delayed by the delay time period from the time when the adjacent last level transition of the first trigger signal occurs.
By implementing the frame rate verification method, the accuracy and the stability of acquiring the brightness change event can be ensured.
As another optional implementation manner, in the second aspect of the embodiment of the present application, before the calculating a frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate, the method further includes:
stopping sending the first trigger signal and the second trigger signal every preset synchronous time length, continuing to execute sending the first trigger signal to the light source after a preset correction time length, sending a second trigger signal to the dynamic vision sensor module, controlling the light source to change the brightness through the first trigger signal, and controlling the dynamic vision sensor module to collect the brightness change event of the light source through the second trigger signal until a preset verification time length is passed.
By implementing the frame rate verification method, the abnormal conditions which may occur when the light source and the dynamic vision sensor module operate for a long time can be corrected through periodic resynchronization, the calculation verification result is corrected in time, and the reliability of the frame rate verification is favorably ensured.
The third aspect of the embodiment of the present application discloses another frame rate verification apparatus for a dynamic vision sensor module, including:
the sending unit is used for sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module;
the control unit is used for controlling the light source to change the brightness through the first trigger signal and controlling the dynamic vision sensor module to collect the brightness change event of the light source through the second trigger signal;
and the calculation verification unit is used for calculating the frame rate of the dynamic vision sensor module according to the plurality of brightness change events collected by the dynamic vision sensor module within the preset verification duration and verifying the frame rate.
By adopting the frame rate verification device, the trigger signal can be sent through the sending unit, so that the control unit can control the light source and the dynamic vision sensor module to be synchronous through the trigger signal, the frame rate of the dynamic vision sensor module can be accurately calculated and verified according to the collected brightness change event by the calculation and verification unit, the condition that the dynamic vision sensor module loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved.
A fourth aspect of the embodiments of the present application discloses an electronic device, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute all or part of the steps of any one of the frame rate verification methods of the dynamic vision sensor module disclosed in the second aspect of the embodiments of the present application.
A fifth aspect of the embodiments of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute all or part of the steps of any one of the frame rate verification methods for a dynamic vision sensor module disclosed in the second aspect of the embodiments of the present application.
A sixth aspect of the present embodiment discloses a computer program product, which when run on a computer, causes the computer to execute all or part of the steps in the frame rate verification method for a dynamic vision sensor module according to the second aspect of the present embodiment.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
in this application embodiment, come to synchronize the triggering of light source and dynamic vision sensor module through the controller, when the luminance change takes place for the control light source, just trigger dynamic vision sensor module and gather the luminance change incident, can guarantee that light source scintillation all gathers by dynamic vision sensor module at every turn. Therefore, by implementing the embodiment of the application, the light source and the dynamic vision sensor module can be synchronously controlled, so that the dynamic vision sensor can acquire the brightness change event of the light source every time, the condition that the dynamic vision sensor module loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a usage scenario of a frame rate verification apparatus for a dynamic vision sensor module according to an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating a frame rate verification method for a dynamic vision sensor module according to an embodiment of the present disclosure;
FIG. 3 is a waveform diagram of some of the first trigger signals and the second trigger signals disclosed in embodiments of the present application;
FIG. 4 is a schematic flowchart illustrating a frame rate verification method for a dynamic vision sensor module according to an embodiment of the present disclosure;
FIG. 5 is a schematic block diagram of another frame rate verification apparatus for a dynamic vision sensor module according to an embodiment of the present disclosure;
fig. 6 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a frame rate verification device and method of a dynamic vision sensor module and a storage medium, which can synchronously control a light source and the dynamic vision sensor module, so that the dynamic vision sensor can acquire brightness change events of the light source every time, the condition that the dynamic vision sensor loses frames is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved. The following detailed description is made with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic view of a usage scenario of a frame rate verification apparatus of a dynamic vision sensor module disclosed in an embodiment of the present application, where the frame rate verification apparatus of the dynamic vision sensor module includes a controller 10, a light source 20, and a dynamic vision sensor module 30, the controller 10 is connected to the light source 20 and the dynamic vision sensor module 30, respectively, and the controller 10 is configured to send a first trigger signal to the light source 20 and send a second trigger signal to the dynamic vision sensor module 30; the light source 20 is used for changing the brightness according to the first trigger signal; the dynamic vision sensor module 30 is configured to acquire a brightness change event of the light source 20 according to the second trigger signal; the controller 10 is further configured to calculate a frame rate of the dynamic vision sensor module 30 according to a plurality of brightness change events collected by the dynamic vision sensor module 30 within a preset verification duration, and verify the frame rate.
The Controller 10 may include various electronic devices having a control processing function, such as an MCU (Micro Controller Unit, Micro control Unit, also called a "single chip microcomputer"), an FPGA (Field Programmable Gate Array), and the like; the Light source 20 may be a Light source board, an LED (Light Emitting Diode) lamp, or the like capable of flashing at high frequency; the Dynamic Vision Sensor module 30 is a Dynamic Vision Sensor module with a frame rate to be verified, and a core DVS (Dynamic Vision Sensor) is also called an Event-based Camera (Event-based Camera), which is sensitive to a change of luminance of light, can acquire a luminance change Event whenever the luminance change exceeds a certain threshold, and can achieve a very high frame rate. It should be noted that, different from the conventional visual sensor or the conventional camera, when the luminance is not changed, the dynamic visual sensor module does not generate any output (i.e., the luminance change event cannot be collected), so if the frame rate is verified by the conventional method, i.e., the independent light source board is used for performing high-frequency flicker, the dynamic visual sensor module is likely to collect the same luminance value at two adjacent sampling moments (e.g., the light source board is just "on" or "off" at the above sampling moments), which results in that the dynamic visual sensor module generates one less output, and thus the frame rate verification of the dynamic visual sensor module is inaccurate. It can be understood that, for a dynamic vision sensor module capable of achieving a very high frame rate, using a conventional frame rate verification method easily results in a large number of lost frames, so that a verification result has a large deviation.
In the embodiment of the present application, the controller 10 is respectively connected to the light source 20 and the dynamic vision sensor module 30, so that the triggering of the light source 20 and the dynamic vision sensor module 30 can be synchronously controlled, and each time the light source 20 is controlled to generate a brightness change by the first trigger signal, the dynamic vision sensor module 30 is triggered to acquire a brightness change event by the second trigger signal, that is, the number of frames acquired by the dynamic vision sensor module 30 is equal to the number of times of brightness changes generated by the light source 20 (the number of times can be controlled by the first trigger signal), so that the light source 20 with high frequency flicker can be used to accurately verify the frame rate that the dynamic vision sensor module 30 can achieve.
Alternatively, the controller 10 may be provided with a first control pin 11 and a second control pin 12, the first control pin 11 may be connected to a trigger pin 21 of the light source 20, and the second control pin 12 may be connected to a trigger pin 31 of the dynamic vision sensor module 30, wherein the controller 10 sends the first trigger signal to the light source 20 through the first control pin 11, and sends the second trigger signal to the dynamic vision sensor module 30 through the second control pin 12.
Optionally, after sending the first trigger signal to the light source 20, the controller 10 may wait for a preset delay time period, and then send the second trigger signal to the dynamic vision sensor module 30, where the delay time period is less than one cycle of the second trigger signal.
Specifically, in order to ensure that the time when the dynamic vision sensor module 30 is triggered by the second trigger signal does not overlap with the time when the light source 20 changes the brightness under the control of the first trigger signal, i.e. to avoid the dynamic vision sensor module 30 from losing frames due to the fact that the brightness change of the light source 20 is not acquired, the controller 10 may wait for a preset delay time (e.g. 10 μ s, 20 μ s, 25 μ s, etc.) before sending the second trigger signal to the dynamic vision sensor module 30 after sending the first trigger signal to the light source 20. When the second trigger signal is a periodic pulse signal (i.e., the dynamic vision sensor module 30 is triggered by a pulse), the delay time may be shorter than one period of the second trigger signal, so as to avoid the frame loss due to excessive delay.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a frame rate verification method for a dynamic vision sensor module according to an embodiment of the present disclosure, where the method is applicable to the frame rate verification apparatus for a dynamic vision sensor module. As shown in fig. 2, the method may include the steps of:
201. and sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module.
For example, the controller of the frame rate verification apparatus of the dynamic vision sensor module may first establish a communication connection with the light source and the dynamic vision sensor module. Specifically, since the dynamic vision sensor module usually reserves a trigger pin for the synchronization signal, the light source with the same trigger pin can be customized, and the first control pin of the controller is connected to the trigger pin of the light source, and the second control pin of the controller is connected to the trigger pin of the dynamic vision sensor module, so that the controller can send the first trigger signal to the light source through the first control pin and send the second trigger signal to the dynamic vision sensor module through the second control pin. The frame rate verification device required by the method has low cost, only needs to control two paths of trigger signals, is easy to realize, is beneficial to shortening the research and development period and saves research and development resources.
In this embodiment of the application, the first trigger signal may be a periodic signal, so that the light source may be controlled to perform periodic brightness change with periodic level change, so that the brightness change of the light source is accurately controllable. In some embodiments, the first trigger signal may be a square wave signal, a PWM (Pulse Width Modulation) signal, or the like, having only two different level values (i.e., a high level and a low level), so as to control the light source to assume two different brightness states of "on" and "off"; in other embodiments, the first trigger signal may also be a step signal, so that the light source can be controlled to assume a plurality of different brightness states.
In some embodiments, the second trigger signal may also be a periodic signal, and the signal frequency of the second trigger signal may be a preset multiple of the signal frequency of the first trigger signal, for example, 2 times, 3 times, and the like, so that the dynamic vision sensor module may be triggered to acquire the periodic brightness change event of the light source by using a periodic rising edge (or a falling edge) of the level. The second trigger signal may be a square wave signal, and a rising edge of the square wave signal is used for triggering the dynamic vision sensor module to acquire; the second trigger signal may also be a pulse signal, and similarly, its rising edge may also be used to trigger the dynamic vision sensor module to perform acquisition. Alternatively, when the first trigger signal is a square wave signal and has a frequency of xHz, the second trigger signal may be a 2xHz periodic pulse signal, so that each time the square wave of the first trigger signal is at a high level or a low level, a rising edge (or a falling edge) of the second trigger signal may be corresponded. In some embodiments, the signal frequency of the second trigger signal may also be greater than 2xHz, so that each time the square wave of the first trigger signal is at a high level or a low level, at least one rising edge (or falling edge) of the second trigger signal may be corresponded, which does not affect the verification of the non-highest frame rate of the dynamic vision sensor module.
As an alternative embodiment, the first trigger signal and the second trigger signal may be triggered simultaneously by the same clock signal generated by the controller, and generated by different signal generation circuits or modules respectively. For example, if the first trigger signal is a PWM signal and the second trigger signal is a pulse signal, the clock signal generated by the internal clock of the controller may be divided, and then the PWM signal of the desired frequency may be output through the built-in PWM generator, and the pulse signal of the desired frequency may be output through the built-in pulse signal generator.
202. The first trigger signal is used for controlling the light source to change the brightness, and the second trigger signal is used for controlling the dynamic vision sensor module to collect the brightness change event of the light source.
Specifically, in step 201, the controller may send the first trigger signal and the second trigger signal synchronously, so that when the light source is controlled to perform brightness change each time by the first trigger signal, the dynamic vision sensor module may be controlled to acquire a corresponding brightness change event by the second trigger signal.
Optionally, through the first trigger signal, the light source may be controlled to change the brightness when the level of the first trigger signal jumps, and to maintain the current brightness when the level of the first trigger signal is stable. Further, the dynamic vision sensor module can be controlled to collect the brightness change event of the light source when the second trigger signal generates a positive pulse through the second trigger signal, wherein at least one positive pulse generated by the second trigger signal corresponds to the interval between every two adjacent level jumps of the first trigger signal.
Referring to fig. 3, fig. 3 is a waveform diagram of some first trigger signals and second trigger signals disclosed in the embodiments of the present application. As shown in fig. 3(a), the first trigger signal may adopt a PWM signal, and when the PWM signal is stable at a high level, the light source may be kept in a "bright" state; when the PWM signal is stable at a low level, the light source may remain "off: when the PWM signal jumps from high level to low level, the light source is turned from 'on' to 'off'; when the PWM signal changes from low level to high level, the light source is turned on from off. It will be appreciated that the brightness of the light source remains the same whether it remains "on" or "off" (where the latter brightness remains 0), while the brightness changes as the state transitions. Similarly, as shown in fig. 3(a), the second trigger signal may be a periodic square wave pulse signal, and when the square wave pulse signal generates a square wave positive pulse, the dynamic vision sensor module may collect a brightness change event of the light source under the trigger of a rising edge of the square wave positive pulse, that is, when the dynamic vision sensor module senses that the brightness of the light source changes relative to the brightness of the light source that was triggered last time, a brightness change event may be output. It should be noted that, in order to avoid frame loss caused by improper acquisition time of the dynamic vision sensor module, as shown in fig. 3(b), a certain delay duration may be set for the second trigger signal, so as to set the square wave positive pulse (or its rising edge) of the second trigger signal between every two adjacent level transitions of the first trigger signal, that is, when the level of the first trigger signal is stabilized to be a high level or a low level.
For example, as shown in fig. 3(c), the first trigger signal may adopt a step wave signal, and when the step wave signal is in different level states, the light source may be in different brightness states; when the light source is stabilized in a certain brightness state, the second trigger signal (also taking a periodic square wave pulse signal as an example) can generate a square wave positive pulse, and triggers the dynamic vision sensor module to sense whether the brightness of the light source changes or not through the rising edge of the square wave positive pulse, and outputs a brightness change event when the brightness change is sensed. Similarly, a certain delay time can be set for the second trigger signal to avoid frame loss caused by improper acquisition time of the dynamic vision sensor module. It can be understood that, only a part (e.g. one period or less than one period) of the step wave signal is illustrated in fig. 3(c), and in order to control the light source to perform the periodic brightness change, the periodic step wave signal may be used, so that the brightness change of the light source may be accurately controlled, and the reliability of performing the frame rate verification on the dynamic vision sensor module is ensured.
It is to be understood that the waveform diagrams shown in fig. 3 are only partial examples, and do not limit the types of signals, frequencies, duty ratios, and the like used for the first trigger signal and the second trigger signal.
As an alternative implementation manner, in step 201, after sending the first trigger signal to the light source, a preset delay time may be waited, and then a second trigger signal is sent to the dynamic vision sensor module, where the delay time is less than one cycle of the second trigger signal. Thus, it is ensured that in step 202, the time at which the second trigger signal generates a positive pulse is between the time of two adjacent level transitions of the first trigger signal and at least lags behind the time of the last adjacent level transition in the first trigger signal by the delay period. Illustratively, the delay duration may be set to 1/2, 1/4, etc. of the period of the second trigger signal.
203. And calculating the frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate.
Specifically, the frame rate of the dynamic vision sensor module may be obtained by dividing the number of brightness change events collected by the dynamic vision sensor module by the time for collecting the brightness change events. For example, if the preset verification duration is t and the dynamic vision sensor module acquires n brightness change events within the verification duration t, the frame rate of the dynamic vision sensor module may be calculated to be F ═ n/t. It should be noted that the calculated frame rate F only represents the frame rate that can be achieved by the dynamic vision sensor module, and the upper frame rate limit that can be achieved by the dynamic vision sensor module cannot be determined accordingly.
On this basis, in order to further verify the accuracy of the calculated frame rate F, the signal frequency of the first trigger signal may be obtained, and the frame rate F may be verified according to the signal frequency. For example, when the first trigger signal is a PWM signal with a frequency of xHz, since there are two level jumps (as shown in fig. 3) in each period of the first trigger signal, that is, the light source performs two brightness changes in each period, when F is 2x, it can be determined that each brightness change event of the light source is collected by the dynamic vision sensor module, so as to verify the accuracy of the calculated frame rate F.
As an optional implementation manner, after the step 202 controls the dynamic vision sensor module to acquire the brightness change event of the light source through the second trigger signal, two brightness change events adjacent in time may be acquired first, and whether the event types of the two brightness change events are the same is determined, where the event type may be one of a brightness increase event or a brightness decrease event; if the two signals are the same, step 201 is executed again, the first trigger signal is sent to the light source, and the second trigger signal is sent to the dynamic vision sensor module, so that resynchronization of the first trigger signal and the second trigger signal is realized. For example, when the first trigger signal adopts a PWM signal, the light source may be controlled to sequentially transition between "on" and "off" states, and the brightness change event collected by the dynamic vision sensor module is necessarily a brightness increase event and a brightness decrease event that alternately occur (i.e., any two brightness change events adjacent to each other in time are necessarily a brightness increase event and a brightness decrease event), otherwise, it indicates that a frame loss or a collection error occurs, and the first trigger signal and the second trigger signal may be re-synchronized at this time. By performing the above method, the accuracy of the number of the plurality of luminance change events utilized in step 203 can be ensured, and the reliability of the frame rate verification can be improved.
As another alternative, when the dynamic vision sensor module is controlled by the second trigger signal to collect the brightness change event of the light source in step 202, a plurality of brightness change sub-events collected by the dynamic vision sensor module may be counted first, where each brightness change event may include a plurality of brightness change sub-events, and each brightness change sub-event may be represented as (x, y, event), where (x, y) represents a coordinate position of a certain pixel in a picture collected by the dynamic vision sensor module, and (event) represents an event type of the brightness change sub-event collected at the coordinate position, and the event type may be one of a brightness increase event or a brightness decrease event. On the basis, when the fact that the weight occupied by the brightness increasing event in the brightness change sub-events is larger than the weight occupied by the brightness decreasing event is counted, the type of the corresponding brightness change event can be determined as the brightness increasing event, and otherwise, the type of the brightness change event can be determined as the brightness decreasing event. Optionally, the weight may be directly determined by counting the number of brightness change sub-events of different event types, or may be determined by performing weighted summation on the brightness change sub-events of different event types according to the coordinate position (for example, the closer to the center of the picture acquired by the dynamic vision sensor module, the higher the weight is given), and the embodiment of the present application is not particularly limited.
Therefore, by implementing the method described in the above embodiment, the light source and the dynamic vision sensor module are triggered synchronously by the controller, and the dynamic vision sensor module is triggered to acquire a brightness change event whenever the brightness of the light source is controlled to change, so that it can be ensured that the light source flickers each time and is acquired by the dynamic vision sensor module, thereby effectively avoiding the situation of frame loss of the dynamic vision sensor module, and improving the accuracy of frame rate verification of the dynamic vision sensor module.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating another frame rate verification method for a dynamic vision sensor module according to an embodiment of the present disclosure, where the method is applicable to the frame rate verification apparatus for a dynamic vision sensor module. As shown in fig. 4, the method may include the steps of:
401. and the control light source and the dynamic vision sensor module are started simultaneously.
Specifically, the controller, the light source, and the dynamic vision sensor module of the frame rate verification apparatus of the dynamic vision sensor module may be powered on at the same time, so that they are started at the same time.
402. And determining a target frequency from a preset adjustable frequency range, and taking the target frequency as the brightness change frequency of the light source for brightness change.
Specifically, in order to cooperate with verifying the frame rate of the dynamic vision sensor module, a light source corresponding to the theoretical highest frame rate of the dynamic vision sensor module may be configured. For example, when the PWM signal is used to control the light source, if the theoretical maximum frame rate of the dynamic vision sensor module is F, the configured maximum frequency of the light source may be F/2, so that 1-F/2 may be used as a preset adjustable frequency range, which is beneficial to improving the flexibility of frame rate verification, and not only can verify different frame rates of the same dynamic vision sensor module, but also can verify a plurality of dynamic vision sensor modules with different theoretical maximum frame rates and smaller than F.
403. And determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency.
In the embodiment of the present application, when determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency, the sampling multiple of the dynamic vision sensor module may be determined according to a preset light source trigger signal type; then, the sampling frequency of the dynamic vision sensor module can be determined according to the brightness change frequency and the sampling multiple. The types of the light source trigger signals may include square wave signals, PWM signals, step wave signals, and the like, and the sampling multiple of the dynamic visual sensor module may be determined according to the state number of the level values included in the signals. For example, for a square wave signal, a PWM signal, or the like having only two states with different level values (i.e., a high level and a low level), the sampling multiple may be set to be twice, so that the dynamic vision sensor module may collect the transition between the two corresponding luminance states; for signals with multiple level value states, such as step wave signals, the sampling multiple can correspond to the number of signal level jump in one period, and therefore the dynamic vision sensor module can collect the corresponding conversion among multiple brightness states. On the basis, the sampling frequency required by the dynamic vision sensor module can be determined by multiplying the brightness change frequency by the sampling multiple.
404. And generating a first trigger signal according to the brightness change frequency, and generating a second trigger signal according to the sampling frequency.
Specifically, when the first trigger signal is generated based on the luminance change frequency, the first trigger signal corresponding to the type of the light source trigger signal may be generated based on the luminance change frequency, and the second trigger signal having the sampling frequency may be generated based on the sampling frequency. Preferably, the second trigger signal may be a pulse signal (e.g., a square wave pulse signal, a periodic impulse sequence signal, etc.) to trigger the dynamic vision sensor module by its rising or falling edge.
As an optional implementation manner, the light source trigger signal type may include a pulse width modulation signal (i.e., PWM signal) type, and when generating the first trigger signal corresponding to the light source trigger signal type according to the brightness change frequency, a target duty ratio and a target signal frequency may be determined according to the brightness change frequency, where the target signal frequency may be equal to the brightness change frequency; then, a pulse width modulation signal having the target duty ratio and the target signal frequency is generated again, and the pulse width modulation signal is used as a first trigger signal. It should be noted that, for the PWM signal, there is no necessary relationship between the signal frequency and the duty ratio, but to ensure that the light source controlled by the PWM signal keeps a certain lighting time, the duty ratio can be properly increased when the signal frequency is high (i.e. the brightness change period is short) to ensure that the brightness change event of the light source can be collected by the dynamic vision sensor module, thereby ensuring the reliability of the frame rate verification. In addition, after determining a target duty ratio according to the luminance change frequency, a PWM signal having the target duty ratio and having the target signal frequency may be generated as a first trigger signal for controlling the light source.
As another alternative, after the step 404 generates the first trigger signal according to the brightness change frequency, a preset delay time may be waited, and then a second trigger signal is generated according to the sampling frequency, where the delay time is less than one period of the second trigger signal, so as to ensure that a pulse generating time of the second trigger signal is between two adjacent time of level jumps of the first trigger signal, and is at least behind the adjacent time of the last level jump by the delay time, so as to ensure that each brightness change event of the light source can be collected by the dynamic vision sensor module, and avoid a frame loss situation.
405. And sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module.
Step 405 is similar to step 201 described above, and is not described here again.
406. And controlling the light source to change the brightness when the level of the first trigger signal jumps through the first trigger signal, and keeping the current brightness when the level of the first trigger signal is stable.
407. And controlling the dynamic vision sensor module to collect the brightness change event of the light source when the second trigger signal generates a positive pulse through the second trigger signal, wherein at least one positive pulse generated by the second trigger signal corresponds to the interval between every two adjacent level jumps of the first trigger signal.
It is understood that, in the step 405, after the first trigger signal is sent to the light source, a preset delay time may be waited, and then a second trigger signal is sent to the dynamic vision sensor module, where the delay time is less than one cycle of the second trigger signal. Thus, it is ensured that in steps 406 and 407, the timing at which the positive pulse is generated by the second trigger signal is between the timings of two adjacent level transitions of the first trigger signal, and is at least behind the delay time period by the timing of the last adjacent level transition of the first trigger signal.
As an alternative embodiment, the sending of the first trigger signal and the second trigger signal may be stopped every preset synchronization time period, and after a preset correction time period, the steps 405 and 407 are continuously executed until a preset verification time period elapses.
For example, the synchronization time may be 1 second, 15 seconds, 30 seconds, and the like, so that the abnormal situations such as clock drift and PWM distortion caused by long-time operation of the light source and the dynamic vision sensor module may be corrected by periodically re-synchronizing the first trigger signal and the second trigger signal. Specifically, the sending of the first trigger signal and the second trigger signal may be stopped, a preset correction duration (e.g., 0.1 second, 0.5 second, 1 second, etc.) is waited, the sending of the first trigger signal to the light source and the sending of the second trigger signal to the dynamic vision sensor module are executed again, the light source is controlled to perform brightness change by the first trigger signal, and the dynamic vision sensor module is controlled to collect a brightness change event of the light source by the second trigger signal.
408. And calculating the frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate.
Step 408 is similar to step 203 described above, and is not described herein again.
Therefore, by implementing the method described in the above embodiment, the light source and the dynamic vision sensor module can be synchronously controlled, so that the dynamic vision sensor module can acquire each brightness change event of the light source, the situation of frame loss of the dynamic vision sensor module is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved; meanwhile, through periodic resynchronization, the abnormal conditions which may occur when the light source and the dynamic vision sensor module operate for a long time can be corrected, the calculation verification result is corrected in time, and the reliability of frame rate verification is favorably ensured.
Referring to fig. 5, fig. 5 is a schematic block diagram of another frame rate verification apparatus for a dynamic vision sensor module according to an embodiment of the present disclosure. As shown in fig. 5, the frame rate verification apparatus may include a transmission unit 501, a control unit 502, and a calculation verification unit 503, wherein:
a sending unit 501, configured to send a first trigger signal to a light source, and send a second trigger signal to the dynamic vision sensor module;
a control unit 502, configured to control the light source to perform brightness change according to the first trigger signal, and control the dynamic vision sensor module to acquire a brightness change event of the light source according to the second trigger signal;
the calculation and verification unit 503 is configured to calculate a frame rate of the dynamic vision sensor module according to the multiple brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verify the frame rate.
It can be seen that, by adopting the frame rate verification device described in the above embodiment, the light source and the dynamic vision sensor module are triggered to be synchronized, and when the light source is controlled to change brightness, the dynamic vision sensor module is triggered to collect brightness change events, so that the dynamic vision sensor module can be used for collecting the brightness change events at each time of light source flicker, thereby effectively avoiding the situation of frame loss of the dynamic vision sensor module, and improving the accuracy of frame rate verification of the dynamic vision sensor module.
As an optional implementation manner, the frame rate verification apparatus may further include a starting unit, a first determining unit, a second determining unit, and a signal generating unit, which are not shown in the figure, wherein:
the starting unit is used for controlling the light source and the dynamic vision sensor module to be started simultaneously;
a first determining unit, configured to determine a target frequency from a preset adjustable frequency range, and use the target frequency as a luminance change frequency for luminance change of the light source;
the second determining unit is used for determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency;
and the signal generating unit is used for generating a first trigger signal according to the brightness change frequency and generating a second trigger signal according to the sampling frequency.
As an optional implementation manner, the second determining unit may further include a multiple determining subunit and a frequency determining subunit, not shown in the figure, wherein:
the multiple determining subunit is used for determining the sampling multiple of the dynamic vision sensor module according to the type of a preset light source trigger signal;
and the frequency determining subunit is used for determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency and the sampling multiple.
The signal generating unit may be specifically configured to generate a first trigger signal corresponding to the type of the light source trigger signal according to the brightness change frequency, and generate a second trigger signal according to the sampling frequency.
As an optional implementation manner, the light source trigger signal type may include a pulse width modulation signal type, and when the signal generating unit generates the first trigger signal corresponding to the light source trigger signal type according to the brightness change frequency, the signal generating unit may specifically determine a target duty ratio and a target signal frequency according to the brightness change frequency; and generating a pulse width modulation signal having the target duty ratio and the target signal frequency, and using the pulse width modulation signal as a first trigger signal.
As an optional implementation manner, the control unit 502 may further include a first control subunit and a second control subunit, not shown in the drawings, wherein:
the first control subunit is used for controlling the light source to change the brightness when the level of the first trigger signal jumps through the first trigger signal and keeping the current brightness when the level of the first trigger signal is stable;
and the second control unit is used for controlling the dynamic vision sensor module to collect the brightness change event of the light source when the second trigger signal generates a positive pulse through the second trigger signal, wherein at least one positive pulse generated by the second trigger signal corresponds to the interval between every two adjacent level jumps of the first trigger signal.
As an optional implementation manner, the sending unit 501 may be specifically configured to send a first trigger signal to the light source, and send a second trigger signal to the dynamic vision sensor module after waiting for a preset delay duration, where the delay duration is less than one cycle of the second trigger signal.
In an alternative embodiment, the time when the second trigger signal generates the positive pulse is between two adjacent time points of the level jump of the first trigger signal, and is at least behind the delay time length by the time of the last adjacent level jump in the first trigger signal.
As an optional implementation manner, the frame rate verification apparatus may further include a synchronization correction unit, not shown in the figure, where the synchronization correction unit is configured to trigger the sending unit 501 to stop sending the first trigger signal and the second trigger signal every preset synchronization duration, and after the preset synchronization duration, trigger the sending unit 501 to continue sending the first trigger signal to the light source and send the second trigger signal to the dynamic vision sensor module, and the trigger control unit 502 controls the light source to perform brightness change through the first trigger signal, and controls the dynamic vision sensor module to collect a brightness change event of the light source through the second trigger signal until the preset verification duration elapses.
Therefore, by adopting the frame rate verification device described in the above embodiment, the light source and the dynamic vision sensor module can be synchronously controlled, so that the dynamic vision sensor module can acquire each brightness change event of the light source, the situation of frame loss of the dynamic vision sensor module is effectively avoided, and the accuracy of frame rate verification of the dynamic vision sensor module is improved; meanwhile, through periodic resynchronization, the abnormal conditions which may occur when the light source and the dynamic vision sensor module operate for a long time can be corrected, the calculation verification result is corrected in time, and the reliability of frame rate verification is favorably ensured.
Referring to fig. 6, fig. 6 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 6, the electronic device may include:
a memory 601 in which executable program code is stored;
a processor 602 coupled to a memory 601;
the processor 602 calls the executable program code stored in the memory 601 to perform all or part of the steps of the frame rate verification method for a dynamic vision sensor module described in any of the above embodiments.
The Memory 601 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 601 includes a non-transitory computer-readable medium. The memory 601 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 601 may include a storage program area and a storage data area, wherein the storage program area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the various method embodiments described above, and the like; the storage data area may store data created according to the use of the server, and the like.
In addition, the present application further discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program enables a computer to execute all or part of the steps in the frame rate verification method of a dynamic vision sensor module in any one of the above embodiments.
In addition, the embodiment of the present application further discloses a computer program product, which when running on a computer, causes the computer to execute all or part of the steps in the frame rate verification method of any one of the dynamic vision sensor modules in the above embodiments.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The frame rate verification device, method and storage medium of the dynamic vision sensor module disclosed in the embodiments of the present application are introduced in detail, and a specific example is applied to illustrate the principle and implementation manner of the present application, and the description of the embodiments is only used to help understand the method and core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (14)
1. A frame rate verification device of a dynamic vision sensor module is characterized by comprising a controller, a light source and a dynamic vision sensor module, wherein the controller is respectively connected with the light source and the dynamic vision sensor module,
the controller is used for sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module;
the light source is used for carrying out brightness change according to the first trigger signal;
the dynamic vision sensor module is used for acquiring a brightness change event of the light source according to the second trigger signal;
the controller is further configured to calculate a frame rate of the dynamic vision sensor module according to the brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verify the frame rate.
2. The frame rate verification device according to claim 1, wherein the controller is provided with a first control pin and a second control pin, the first control pin is connected to the trigger pin of the light source, the second control pin is connected to the trigger pin of the dynamic vision sensor module, wherein,
the controller sends the first trigger signal to the light source through the first control pin, and sends the second trigger signal to the dynamic vision sensor module through the second control pin.
3. The frame rate verification device according to claim 1 or 2, wherein the controller is further configured to send the first trigger signal to the light source, and send the second trigger signal to the dynamic vision sensor module after waiting for a preset delay duration, wherein the delay duration is less than one period of the second trigger signal.
4. A frame rate verification method of a dynamic vision sensor module is characterized by comprising the following steps:
sending a first trigger signal to a light source and sending a second trigger signal to a dynamic vision sensor module;
controlling the light source to change the brightness through the first trigger signal, and controlling the dynamic vision sensor module to acquire a brightness change event of the light source through the second trigger signal;
and calculating the frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration, and verifying the frame rate.
5. The method of claim 4, wherein prior to sending the first trigger signal to the light source and the second trigger signal to the dynamic vision sensor module, the method further comprises:
controlling the light source and the dynamic vision sensor module to start simultaneously;
determining a target frequency from a preset adjustable frequency range, and taking the target frequency as a brightness change frequency of the light source for brightness change;
determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency;
and generating a first trigger signal according to the brightness change frequency, and generating a second trigger signal according to the sampling frequency.
6. The method of claim 5, wherein determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency comprises:
determining the sampling multiple of the dynamic vision sensor module according to the type of a preset light source trigger signal;
determining the sampling frequency of the dynamic vision sensor module according to the brightness change frequency and the sampling multiple;
the generating a first trigger signal according to the brightness change frequency comprises:
and generating a first trigger signal corresponding to the type of the light source trigger signal according to the brightness change frequency.
7. The method of claim 6, wherein the light source trigger signal type comprises a pulse width modulation signal type, and wherein generating the first trigger signal corresponding to the light source trigger signal type according to the brightness change frequency comprises:
determining a target duty ratio and a target signal frequency according to the brightness change frequency;
and generating a pulse width modulation signal with the target duty ratio and the target signal frequency, and using the pulse width modulation signal as a first trigger signal.
8. The method according to any one of claims 4 to 7, wherein the controlling the light source to change brightness by the first trigger signal and the dynamic vision sensor module to acquire the brightness change event of the light source by the second trigger signal comprises:
controlling the light source to change the brightness when the level of the first trigger signal jumps through the first trigger signal, and keeping the current brightness when the level of the first trigger signal is stable;
and controlling the dynamic vision sensor module to acquire a brightness change event of the light source when the second trigger signal generates a positive pulse through the second trigger signal, wherein at least one positive pulse generated by the second trigger signal corresponds to the interval between every two adjacent level jumps of the first trigger signal.
9. The method of claim 8, wherein sending a first trigger signal to a light source and a second trigger signal to a dynamic vision sensor module comprises:
and sending a first trigger signal to a light source, and sending a second trigger signal to the dynamic vision sensor module after waiting for a preset delay time, wherein the delay time is less than one period of the second trigger signal.
10. The method of claim 9, wherein the second trigger signal generates a positive pulse between two adjacent level transitions of the first trigger signal and at least the delay period after the time of the last adjacent level transition of the first trigger signal.
11. The method according to any one of claims 4-7, 9, and 10, wherein before calculating a frame rate of the dynamic vision sensor module according to a plurality of brightness change events collected by the dynamic vision sensor module within a preset verification duration and verifying the frame rate, the method further comprises:
stopping sending the first trigger signal and the second trigger signal every preset synchronous time length, continuing to execute sending the first trigger signal to the light source after a preset correction time length, sending a second trigger signal to the dynamic vision sensor module, controlling the light source to change the brightness through the first trigger signal, and controlling the dynamic vision sensor module to collect the brightness change event of the light source through the second trigger signal until a preset verification time length is passed.
12. A frame rate verification device for a dynamic vision sensor module, comprising:
the sending unit is used for sending a first trigger signal to the light source and sending a second trigger signal to the dynamic vision sensor module;
the control unit is used for controlling the light source to change the brightness through the first trigger signal and controlling the dynamic vision sensor module to collect the brightness change event of the light source through the second trigger signal;
and the calculation verification unit is used for calculating the frame rate of the dynamic vision sensor module according to the plurality of brightness change events collected by the dynamic vision sensor module within the preset verification duration and verifying the frame rate.
13. An electronic device, comprising:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform the method of any of claims 4 to 11.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program causes a computer to perform the method of any one of claims 4 to 11.
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