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Camera gain determination method and device

A camera gain and determination method technology, applied in the field of three-dimensional measurement, can solve the problems of not being able to adjust the exposure time, not being able to obtain raster images, etc.

Active Publication Date: 2020-03-03
HANGZHOU HIKROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the limitations of some factors (such as chip hardware performance, frame rate of the measurement system, etc.), the exposure time of the projector can only be adjusted within a specific range
In some cases, even if the exposure time of the projector is adjusted to the maximum or minimum value of the range, it still cannot be adjusted to a better exposure time, and a clear raster image cannot be obtained

Method used

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  • Camera gain determination method and device
  • Camera gain determination method and device
  • Camera gain determination method and device

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Experimental program
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Embodiment approach

[0189] As an embodiment, the device also includes:

[0190] The first judging module (not shown in the figure) is used for judging that the projector corresponding to the set initial camera gain is valid after the determining submodule determines the effective exposure time of the projector corresponding to the set camera gain Whether the exposure time is greater than the preset minimum value; if not, trigger the control submodule;

[0191] The second determination module 603 is specifically used for:

[0192] According to the determined quality parameter, an optimal camera gain is determined among the set camera gains smaller than the initial camera gain.

[0193] As an implementation manner, the second determination module 603 is specifically configured to:

[0194] Determining a first raster image whose quality parameter is greater than a preset threshold and whose corresponding projector effective exposure time is greater than the preset minimum value is used as the target...

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Abstract

The embodiment of the invention provides a camera gain determination method and device. The method comprises the steps that a camera sequentially collects raster images according to the set camera gains, and determines the optimal camera gain in the set camera gains according to the quality parameters of the raster images. In some cases, even if the exposure time of the projector is adjusted to the maximum value or the minimum value which can be borne by the projector, the exposure time still cannot be adjusted to the optimal exposure time, and a clear grating image cannot be obtained; under the condition, the gain of the camera is adjusted to be optimal by utilizing the scheme, so that a clear grating image can be obtained.

Description

technical field [0001] The invention relates to the technical field of three-dimensional measurement, in particular to a method and device for determining camera gain. Background technique [0002] The scheme of three-dimensional measurement using structured light generally includes: a projector projects structured light, and the structured light is irradiated onto the object to be measured to form a projection grating; the camera collects the projected grating to obtain a grating image; The measurement data of the object. [0003] Due to the influence of ambient light, or the different reflectivity of the surface of the object to be measured, or other various factors, it is usually necessary to adjust the exposure time of the projector to obtain a clearer raster image. However, due to limitations of some factors (such as chip hardware performance, frame rate of the measurement system, etc.), the exposure time of the projector can only be adjusted within a specific range. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N17/00H04N9/31H04N5/235
CPCH04N17/002H04N9/3191H04N23/73
Inventor 杨少鹏孙元栋张华林
Owner HANGZHOU HIKROBOT TECH CO LTD