Depth map processing method, depth map processing device and electronic equipment
A processing method and depth map technology, applied in the field of image processing, can solve the problems of different distances, more flying pixels, different ambient lighting, etc., to achieve the effect of removing abnormal points and improving smoothness
Active Publication Date: 2019-11-01
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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[0003] However, in practical application scenarios, there are often many uncertainties, such as different distances between the background and the foreground, different distances from the foreground to the Time of Flight (TOF) camera, and different ambient lighting. The algorithm requires users to set reasonable parameters for specific scenarios
In this way, it is very difficult for users who have no relevant professional experience or application developers who only use the depth map, which may lead to many flying pixels in the filtered depth map, affecting subsequent image processing
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[0027] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.
[0028] At present, the processing flow of the raw data of the single-frequency TOF camera mainly includes the following steps:
[0029] Step 1, convert the original data into i, q data, where i, q represent the collected charges, which are the sine and cosine values of the delay phase angle corresponding to the distance;
[0030] Step 2, convert i, q into confidence p0(|i|+|q|) and phase difference c0(arctan(i / q));
[0031] Step 3, perform error correction on the confidence p0 to obtain p_cor;
[0032] Step 4, determine ...
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The invention provides a depth map processing method, a depth map processing device and electronic equipment. The method comprises the steps: obtaining a depth map; wherein each pixel unit in the depth map has a corresponding depth and a confidence coefficient of the depth; in the depth map, determining a target region corresponding to the region of interest in the imaging map; wherein the depth image and the imaging image are synchronously acquired; determining a first confidence threshold value according to the confidence coefficient of the depth corresponding to each pixel unit in the target area; and filtering the corresponding depth of each pixel unit in the depth map according to the first confidence threshold. According to the method, abnormal points such as flying pixel points in the depth map can be effectively removed, and the smoothness of the depth map is improved.
Description
technical field [0001] The present application relates to the technical field of image processing, and in particular to a depth image processing method, device and electronic equipment. Background technique [0002] Currently, in order to improve the quality of the depth map, the depth map can be filtered. In the prior art, the depth map is filtered through filtering algorithms such as bilateral filtering, anisotropic filtering, and filtering based on a fixed threshold. [0003] However, in practical application scenarios, there are often many uncertainties, such as different distances between the background and the foreground, different distances from the foreground to the Time of Flight (TOF) camera, and different ambient lighting. The algorithm requires users to set reasonable parameters for specific scenarios. In this way, it is very difficult for users who have no relevant professional experience or application developers who only use the depth map, which may lead to ...
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IPC IPC(8): G06T7/50G06K9/32
CPCG06T7/50G06T2207/20024G06V10/25
Inventor 康健
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD