Depth camera loading device, apparatus, method and storage medium

Abstract

The present application relates to a method, device, computer equipment, storage medium and computer program product for loading a depth camera. The method comprises: obtaining the depth camera startup instruction, the startup instruction comprising the identification of the depth camera to be started, obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information comprising the identification of the depth camera, the dynamic library path, and the correspondence between the identification of the depth camera and the dynamic library path; reading the parameter information of the depth camera to be started according to the dynamic library path, and loading the parameter information of the depth camera to be started. This method can be used to obtain the parameters of the depth camera of any connected system for loading, thereby achieving plug-and-play for the depth camera with loaded parameters, and improving the flexibility of the integrated depth camera.

Description

Technical Field

[0001] The present application relates to the field of camera technology, and in particular to a loading device, apparatus, method and storage medium for a depth camera. Background Art

[0002] Depth cameras, which can simultaneously obtain environmental color and depth information, are widely used.

[0003] When various systems integrate depth cameras, the system generally specifies the depth camera of a specified manufacturer, that is, the parameter information of the depth camera of the specified manufacturer is written into the system. However, with the upgrade of the system, it is often the case that the functions of the originally integrated depth camera are not applicable or other situations require replacement. This method of specifying manufacturers can easily make it difficult to replace the depth camera of other manufacturers for use later. Summary of the invention

[0004] Based on this, it is necessary to provide a depth camera loading device, apparatus, method and computer-readable storage medium that can realize plug-and-play of the depth camera in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a loading device for a depth camera, including a memory and a processor, wherein a computer program is stored on the memory, and the computer program can be run on the processor, and the processor is used to implement the following steps when executing the computer program:

[0006] Obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information including the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path;

[0007] The parameter information of the depth camera to be started is read according to the dynamic library path, and the parameter information of the depth camera to be started is loaded.

[0008] In one embodiment, the processor further implements the following steps when executing the computer program:

[0009] Starting the corresponding depth camera to be started according to the loaded parameter information, and changing the depth camera to be started to the started depth camera;

[0010] Acquire image data captured by the depth camera after startup.

[0011] In one embodiment, the processor further implements the following steps when executing the computer program:

[0012] receiving an image data acquisition request, the image data acquisition request including listener information for sending the image data acquisition request and an identifier of at least one of the depth cameras after being started;

[0013] Determine image data captured by the activated depth camera corresponding to the identifier of the activated depth camera, and send the image data to the corresponding listener according to the listener information.

[0014] In one embodiment, the processor is used to execute the computer program to further implement the following steps: the step of loading the parameter information of the depth camera to be started includes:

[0015] The parameter information of the depth camera to be started is loaded through the Dopen method.

[0016] In one embodiment, the startup instruction includes multiple identifiers of depth cameras to be started, and the processor is used to execute the computer program to further implement the following steps: the step of obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier of the depth camera to be started in the startup instruction includes:

[0017] According to the identifiers of the multiple depth cameras to be started, searching the corresponding dynamic library paths in the preset configuration information to obtain multiple dynamic library paths;

[0018] The step of reading the parameter information of the depth camera to be started according to the dynamic library path and loading the parameter information of the depth camera to be started includes:

[0019] Parameter information corresponding to the depth camera to be started is read according to the multiple dynamic library paths to obtain multiple parameter information, and the read multiple parameter information is loaded.

[0020] In one embodiment, before the step of acquiring the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier, the processor further implements the following steps when executing the computer program:

[0021] Receive a configuration instruction, wherein the configuration instruction includes an identifier of the depth camera, a dynamic library path, and a corresponding relationship between the identifier of the depth camera and the dynamic library path;

[0022] The identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path are saved in the preset configuration information.

[0023] In one embodiment, the loading device of the depth camera is a robot.

[0024] In a second aspect, the present application also provides a method for loading a depth camera, the method comprising:

[0025] Obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information including the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path;

[0026] The parameter information of the depth camera to be started is read according to the dynamic library path, and the parameter information of the depth camera to be started is loaded.

[0027] In a third aspect, the present application also provides a loading device for a depth camera. The device comprises:

[0028] An acquisition module, configured to acquire the depth camera startup instruction, the startup instruction including the identifier of the depth camera to be started, and acquiring the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier of the depth camera to be started, the preset configuration information including the identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path;

[0029] A loading module is used to read the parameter information of the depth camera to be started according to the dynamic library path, and load the parameter information of the depth camera to be started.

[0030] In a fourth aspect, the present application further provides a robot, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps implemented by the loading device of the depth camera as described above when executing the computer program.

[0031] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, when the computer program is executed by a processor, implements the steps implemented by the loading device of the depth camera as described above.

[0032] The above-mentioned depth camera loading equipment, device, method and storage medium, when starting the depth camera, first obtains the identification of the depth camera to be started, and then finds the dynamic library path of the depth camera to be started in the preset configuration information according to the identification, and the dynamic library path stores the parameter information of the depth camera to be started, so that it can be loaded according to the parameters of the camera. Through the above method, in the process of starting the depth camera, the present application finds the corresponding parameters according to the identification of the depth camera, without specifying a specific depth camera in the system, and can realize the acquisition of the parameters of any depth camera connected to the system for loading, thereby realizing plug-and-play for the depth camera with loaded parameters, and improving the flexibility of the integrated depth camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A diagram of an application environment of a loading device for a depth camera in one embodiment;

[0034] Figure 2 A schematic flow chart of the steps of implementing a loading device for a depth camera in one embodiment;

[0035] Figure 3 It is a flowchart of the steps of implementing the loading device of the depth camera in another embodiment;

[0036] Figure 4 It is a flowchart of the steps of implementing the loading device of the depth camera in another embodiment;

[0037] Figure 5 is a structural block diagram of a loading device of a depth camera in one embodiment;

[0038] Figure 6 1 is a diagram showing the internal structure of a robot in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The depth camera loading device provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in the figure, the loading device of the depth camera can be as follows Figure 1The image acquisition device 104 shown, the terminal 102 communicates with the image acquisition device 104 through the network, and the terminal 102 is used to send an image acquisition instruction to the image acquisition device 104 through the network to control the image acquisition device 104 to start the depth camera to acquire the corresponding image. The image acquisition device 104 can be a smart TV, a robot, a drone, a mobile phone, etc. As another embodiment, the image acquisition instruction can be generated by the image acquisition device 104 itself. The data storage system can be integrated on the image acquisition device 104 or exist separately. The data storage system is used to store the data that the image acquisition device 104 needs to process. The depth camera can be detachably installed on the image acquisition device 104. The image acquisition device 104 is provided with corresponding preset configuration information. The preset configuration information stores the identification of each depth camera and the dynamic library path corresponding to the identification of each depth camera. The identification of the depth camera can be a number or the name of the manufacturer of the depth camera, etc. The dynamic library path refers to the path in which the depth camera stores its own parameters. After the image acquisition device 104 obtains the parameter information of the depth camera according to the dynamic library path, the depth camera can be loaded and the depth camera can be started to acquire the image. The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc.

[0041] In one embodiment, Figure 2 As shown, a loading device for a depth camera is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the computer program can be run on the processor, and the processor is used to implement the following steps when executing the computer program:

[0042] Step 201, obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from preset configuration information according to the identification of the depth camera to be started.

[0043] Compared with other types of cameras, depth cameras have added a depth measurement function, which makes it easier and more accurate to perceive the surrounding environment and changes. Its applications are very wide, including 3D modeling, unmanned driving, robot navigation, mobile phone face unlocking, somatosensory games, etc.

[0044] The existing image acquisition devices basically store the parameter information of a certain depth camera in the device system, so when using the corresponding depth camera, the corresponding parameter information can be directly called according to the startup instruction to start the depth camera. However, when replacing the depth camera in the subsequent process, professional technicians are required to manually modify it in the system or the depth camera parameter information cannot be modified, resulting in the problem of being unable to replace it.

[0045] To avoid the above situation, the present application stores configuration information for calling the depth camera in advance in the system of the depth camera loading device. The preset configuration information includes at least a depth camera identifier, a dynamic library path, and a correspondence between the depth camera identifier and the dynamic library path, wherein the depth camera identifier can be the manufacturer name of the depth camera, or the interface name of the depth camera loading device, or the model of the depth camera, etc.; the dynamic library path is the address where the depth camera parameter information is stored in the depth camera, that is, the depth camera stores its parameter information, and the dynamic library path indicates the location where the depth camera stores its parameter information; the depth camera parameter information is used to start the depth camera for use after the depth camera loading device is loaded. The preset configuration information can be stored in the storage module of the depth camera loading device, or it can be placed separately in the database of the depth camera loading device, or in the cloud database. It can be understood that the more depth camera identifiers and corresponding dynamic library paths in the preset configuration information, the better, and the more storage, the smoother the subsequent use. Of course, due to the update and replacement of depth camera products, the identifiers of the mid-depth cameras and the corresponding dynamic library paths stored in the preset configuration information cannot be exhausted. Generally speaking, for depth cameras produced by the same manufacturer, the path of the dynamic library storing parameter information in the depth camera is generally fixed. Therefore, in this embodiment, the identifier of the depth camera in the preset configuration information is the manufacturer name and the corresponding dynamic library path, which is convenient for users to update the depth camera of the same manufacturer by themselves without changing the parameters in the system.

[0046] Furthermore, in order to facilitate subsequent updates, additions or deletions by technical personnel, this embodiment also provides a function of updating, adding or deleting configuration information, such as the loading device of the depth camera. Figure 1The image acquisition device 104 shown is taken as an example for explanation. Specifically, the technician can call out the update, addition or deletion function operation interface of the preset configuration information through the system setting function of the image acquisition device 104, so as to realize the update, addition or deletion of the depth camera identification, dynamic library path and the correspondence between the depth camera identification and the dynamic library path, wherein the update refers to replacing the original depth camera identification or the corresponding dynamic library path with the new depth camera identification or the corresponding dynamic library path; the addition refers to adding a new depth camera identification or the corresponding dynamic library path; the deletion refers to deleting the existing depth camera identification or the corresponding dynamic library path.

[0047] As an embodiment, after the settings are completed, the image acquisition device 104 can initiate the process of using the depth camera by itself or the terminal 102 can initiate the process of starting the depth camera to the image acquisition device 104 through the network, so that the image acquisition device 104 obtains the start-up instruction generated by itself or the start-up instruction sent by the terminal 102. After the image acquisition device 104 receives the depth camera start-up instruction, it obtains the identification of the depth camera to be started according to the start-up instruction. One or more depth cameras can be set in the image acquisition device 104, so the start-up instruction includes one or more identifications of the depth cameras to be started.

[0048] After obtaining the identification of the depth camera to be started, the image acquisition device 104 can find the dynamic library path corresponding to the identification of the depth camera to be started from its own storage information, local database or cloud database, and the dynamic library path is the path where the depth camera to be started stores its parameters. Specifically, if the identification of the depth camera to be started is one, then find its corresponding dynamic library path.

[0049] If the start instruction includes identifications of multiple depth cameras to be started, step S201 may include:

[0050] According to the identifiers of the multiple depth cameras to be started, searching the corresponding dynamic library paths in the preset configuration information to obtain multiple dynamic library paths;

[0051] When there are multiple identifiers of the depth camera to be started, first find the same identifier of the depth camera to be started in its own storage information, local database or cloud database according to the identifier of the depth camera to be started in the startup instruction, and then find the dynamic library path corresponding to the identifier of each depth camera to be started according to the correspondence between the identifiers of the depth cameras to be started, and then find the dynamic library path of the depth camera corresponding to the identifier of each depth camera to be started, so as to obtain multiple dynamic library paths.

[0052] Step 202: Read parameter information of the depth camera to be started according to the dynamic library path, and load the parameter information of the depth camera to be started.

[0053] According to step S201, after the image acquisition device 104 obtains the dynamic library path of the depth camera to be started, the parameter information of the corresponding depth camera to be started can be read from the connected depth camera according to the obtained dynamic library path, for example, according to the dynamic library path B of the depth camera A to be started, the parameter information C of the depth camera A to be started is obtained. In this way, the image acquisition device 104 can load the obtained parameter information.

[0054] Specifically, when the startup instruction includes multiple identifiers of depth cameras to be started, step S202 may include:

[0055] Parameter information corresponding to the depth camera to be started is read according to the multiple dynamic library paths to obtain multiple parameter information, and the read multiple parameter information is loaded.

[0056] When the startup instruction includes the identifiers of multiple depth cameras to be started, the multiple dynamic library paths are loaded according to the dynamic library paths of the multiple depth cameras to be started obtained in step S201, thereby realizing the loading of multiple depth cameras. Furthermore, multiple threads can be newly created to load multiple depth cameras, and each thread loads one depth camera.

[0057] Further, in order to facilitate the loading and subsequent use of parameter information, in this embodiment, the process of loading the obtained parameter information may include:

[0058] The parameter information of the depth camera to be started is loaded through the Dopen method.

[0059] The dope method is a method of calling a variable function and passing in variable parameters. Specifically, when using the parameters through the dope function, the parameter information of the depth camera can be dynamically loaded and called. After the depth camera is used, the loaded parameter information will be released, so that the parameter information of other depth cameras can be called for use next time to realize dynamic loading. In the specific implementation, the parameter information of the depth camera to be started can also be loaded by other methods. It is only necessary to release the parameter information of the closed depth camera when the depth camera is used and the shutdown command is received, so as to facilitate subsequent loading.

[0060] Furthermore, after the loading is completed, the processor further implements the following steps when executing the computer program:

[0061] Starting the corresponding depth camera to be started according to the loaded parameter information, and changing the depth camera to be started to the started depth camera;

[0062] Acquire image data captured by the depth camera after startup.

[0063] After the image acquisition device 104 completes loading of the depth camera, since the depth camera is an independent module, after it is connected to the corresponding interface in the image acquisition device 104, the corresponding depth camera can be called through the loaded parameters without installing a driver. In other words, as long as the parameter information of the depth camera is loaded, the corresponding depth camera can be plug-and-play, and then the depth camera can be called to capture images after startup, and the image data obtained by the depth camera can be received.

[0064] As an embodiment, the startup instruction may also include a loading time and a startup time, wherein the loading time is earlier than the startup time. Specifically, when the loading time is reached, the depth camera is loaded first. After the parameter information of the depth camera is loaded, before the depth camera is started, the depth camera may be placed in a standby state, and the corresponding depth camera may be started when the startup time is reached. This situation is generally used in pre-loading scenarios. For example, according to user habits, the parameter information of a depth camera is loaded before a fixed time every day, so that the user can quickly open the depth camera at the fixed time. This allows the depth camera to be started quickly.

[0065] In the above-mentioned depth camera loading method, when starting the depth camera, the identifier of the depth camera to be started is first obtained, and then the dynamic library path of the depth camera to be started is found in the preset configuration information according to the identifier. The dynamic library path stores the parameter information of the depth camera to be started, so that it can be loaded according to the parameter information of the camera. Through the above method, in the process of starting the depth camera, the present application finds the corresponding parameter information according to the identifier of the depth camera, without specifying a specific depth camera in the system, and can obtain the parameter information of any depth camera connected to the system for loading, thereby realizing plug-and-play for the depth camera with loaded parameter information, and improving the flexibility of the integrated depth camera.

[0066] In one embodiment, based on the above embodiment, Figure 3 As shown, when the processor is used to execute the computer program, it also implements the following steps:

[0067] Step 301: receiving an image data acquisition request, wherein the image data acquisition request includes information of a listener that sends the image data acquisition request and an identifier of at least one of the activated depth cameras.

[0068] The listener in this embodiment can be Figure 1The terminal 102 shown in the figure, such as a personal computer, a mobile phone, etc., can send an image data acquisition request to the image acquisition device 104 through the network or directly, and the image data acquisition request at least includes the identification of the depth camera and the listener information sending the image data acquisition request.

[0069] As an example, this step can be performed in Figure 2 In the embodiment shown, the step is executed before step S201, that is, the start instruction can be generated according to the image data acquisition request sent by the listener; as another embodiment, this step can also be performed before step S201. Figure 2 In the illustrated embodiment, the process is executed after acquiring the image captured by the depth camera after startup, that is, the listener sends an image data acquisition request to the terminal 102 during the depth camera shooting process.

[0070] Step 302: Determine the image data captured by the activated depth camera corresponding to the identifier of the activated depth camera, and send the image data to the corresponding listener according to the listener information.

[0071] In this embodiment, for the convenience of searching, the image data captured by each depth camera is stored separately in a storage space, which can be a part of a computer storage medium (such as a hard disk), which can be a folder or a separate computer storage medium. After obtaining the image data acquisition request, the storage space for storing the image data of the corresponding depth camera is first determined according to the identifier in the image data acquisition request, so as to find the image data captured by the depth camera, and then send the found image data to the corresponding listener according to the information of the listener in the image data acquisition request. Specifically, there can be multiple listeners requesting to obtain data from the same depth camera, and the image acquisition device 104 sends the same data to multiple listeners to achieve multi-channel distribution; multiple listeners can also request to obtain data from different depth cameras. In other embodiments, the image data captured by each depth camera can also exist in the same storage space, in which case it is necessary to associate the segment / image with the depth camera that captured the image.

[0072] Furthermore, a display screen is also provided in the image acquisition device 104, and the display screen is used to display the image data captured by the depth camera. Specifically, when there is only one activated depth camera, the captured image can be displayed in full screen, or the captured image and the name of the camera and other information can be displayed; when there are multiple activated depth cameras, the images captured by each activated depth camera are displayed in different areas on the display screen at the same time, and each area corresponds to each depth camera one by one.

[0073] In one embodiment, based on the above embodiment, Figure 4As shown, when the processor is used to execute the computer program, the following steps are also implemented:

[0074] Step S401, receiving a configuration instruction from a user, wherein the configuration instruction includes an identifier of the depth camera, a dynamic library path, and a corresponding relationship between the identifier and the dynamic library path;

[0075] Step S402: Save the identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path into the preset configuration information.

[0076] Before starting the depth camera, the user can modify the configuration information of the depth camera. Specifically, the user can call out the configuration interface through the system modification instruction, and then the user can operate the configuration information of the depth camera through the configuration interface, and the image acquisition device 104 will receive the corresponding configuration instruction, which at least includes the identification of the depth camera, the dynamic library path, and the correspondence between the identification and the dynamic library path; after receiving the corresponding configuration instruction, the image acquisition device 104 saves the identification of the depth camera, the dynamic library path, and the correspondence between the identification and the dynamic library path to the preset configuration information, so that the depth camera can be loaded according to the preset configuration information in the subsequent loading.

[0077] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0078] Based on the same inventive concept, the embodiment of the present application also provides a depth camera loading device for implementing the computer program in the depth camera loading device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more depth camera loading devices provided below can refer to the limitations of the depth camera loading method above, and will not be repeated here.

[0079] In one embodiment, Figure 5 As shown, a loading device for a depth camera is provided, comprising: an acquisition module and a loading module, wherein:

[0080] The acquisition module 501 is used to obtain the depth camera startup instruction, the startup instruction includes the identification of the depth camera to be started, and the dynamic library path of the depth camera to be started is obtained from the preset configuration information according to the identification of the depth camera to be started, and the preset configuration information includes the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path;

[0081] The loading module 502 is used to read the parameter information of the depth camera to be started according to the dynamic library path, and load the parameter information of the depth camera to be started.

[0082] Furthermore, the loading device of the depth camera may also include:

[0083] A startup module (not shown) is used to start the corresponding depth camera to be started according to the loaded parameter information, and the depth camera to be started is changed to the depth camera after startup; and obtain image data taken by the depth camera after startup.

[0084] Furthermore, the loading device of the depth camera may also include:

[0085] A receiving module (not shown), configured to receive an image data acquisition request, wherein the image data acquisition request includes information about a listener that sends the image data acquisition request and an identifier of at least one of the depth cameras after being started;

[0086] The sending module (not shown) is used to determine the image data taken by the activated depth camera corresponding to the identifier of the activated depth camera, and send the image data to the corresponding listener according to the listener information.

[0087] Furthermore, the loading module 502 is further configured to load parameter information of the depth camera to be started in a Dopen manner.

[0088] Furthermore, the startup instruction includes identifications of multiple depth cameras to be started, and the acquisition module 501 is also used to search for the corresponding dynamic library path in the preset configuration information according to the identifications of the multiple depth cameras to be started, and obtain multiple dynamic library paths; the loading module 502 is used to read parameter information corresponding to the depth camera to be started according to the multiple dynamic library paths, obtain multiple parameter information, and load the multiple parameter information read.

[0089] Furthermore, the loading device of the depth camera may also include:

[0090] A configuration module (not shown), configured to receive a configuration instruction from a user, wherein the configuration instruction includes at least one depth camera identifier, a dynamic library path, and a correspondence between the depth camera identifier and the dynamic library path;

[0091] The storage module (not shown) is used to save the identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path into the preset configuration information.

[0092] Each module in the above-mentioned depth camera loading device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0093] In one embodiment, a robot is provided, whose internal structure diagram can be shown as follows: Figure 6 As shown. The robot includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the robot is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database (the database may not exist in other embodiments). The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store configuration information, and the configuration information includes the identification of the depth camera, the dynamic library path, and the correspondence between the depth camera identification and the dynamic library path (the database may not exist in other embodiments, and the configuration information is directly stored in the non-volatile storage medium). The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements the steps implemented by the loading device of the depth camera described in any of the above embodiments.

[0094] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the robot to which the scheme of the present application is applied. The specific robot may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0095] In one embodiment, a method for loading a depth camera is also provided. Figure 2 As shown, the method includes:

[0096] Obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information including the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path;

[0097] The parameter information of the depth camera to be started is read according to the dynamic library path, and the parameter information of the depth camera to be started is loaded.

[0098] The steps included in the depth camera loading method are the same as the steps implemented by the depth camera loading device in any of the above embodiments, and will not be repeated here.

[0099] In one embodiment, a computer-readable storage medium is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps implemented by the depth camera loading device in the above-mentioned method embodiments are implemented.

[0100] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of implementing a loading device for a depth camera in the above-mentioned embodiments.

[0101] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0102] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A loading device for a depth camera, comprising a memory and a processor, wherein a computer program is stored in the memory and can be run on the processor, wherein: The processor is used to implement the following steps when executing the computer program: Obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information including the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path; Reading parameter information of the depth camera to be started according to the dynamic library path, and loading the parameter information of the depth camera to be started to start the depth camera to be started, and releasing the parameter information after the depth camera to be started is used, wherein the dynamic library path indicates the location where the depth camera stores the parameter information; The startup instruction includes a loading time and a startup time. When the loading time is reached, the parameter information is loaded, the depth camera to be started is in a standby state until the startup time, and when the startup time is reached, the depth camera to be started is started.

2. The depth camera loading device according to claim 1, characterized in that: When the processor is used to execute the computer program, it also implements the following steps: Starting the corresponding depth camera to be started according to the loaded parameter information, and changing the depth camera to be started to the started depth camera; Acquire image data captured by the depth camera after startup.

3. The loading device of the depth camera according to claim 2, characterized in that: When the processor is used to execute the computer program, it also implements the following steps: receiving an image data acquisition request, the image data acquisition request including listener information for sending the image data acquisition request and an identifier of at least one of the depth cameras after being started; Determine image data captured by the activated depth camera corresponding to the identifier of the activated depth camera, and send the image data to the corresponding listener according to the listener information.

4. The loading device of the depth camera according to claim 1, characterized in that: The processor is used to implement the following steps when executing the computer program: The step of loading parameter information of the depth camera to be started includes: The parameter information of the depth camera to be started is loaded through the Dopen method.

5. The depth camera loading device according to claim 1, characterized in that: The startup instruction includes the identifiers of multiple depth cameras to be started, and the processor is used to implement the following steps when executing the computer program: The step of acquiring the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier of the depth camera to be started in the start instruction includes: According to the identifiers of the multiple depth cameras to be started, searching the corresponding dynamic library paths in the preset configuration information to obtain multiple dynamic library paths; The step of reading the parameter information of the depth camera to be started according to the dynamic library path and loading the parameter information of the depth camera to be started includes: Parameter information corresponding to the depth camera to be started is read according to the multiple dynamic library paths to obtain multiple parameter information, and the read multiple parameter information is loaded.

6. The loading device of the depth camera according to any one of claims 1 to 5, characterized in that: The processor is used to implement the following steps when executing the computer program: Before the step of acquiring the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier of the depth camera to be started, the method further includes: Receive a configuration instruction, wherein the configuration instruction includes an identifier of the depth camera, a dynamic library path, and a corresponding relationship between the identifier of the depth camera and the dynamic library path; The identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path are saved in the preset configuration information.

7. The depth camera loading device according to claim 1, characterized in that: The loading device of the depth camera is a robot.

8. A method for loading a depth camera, characterized in that: The method comprises: Obtaining the depth camera startup instruction, the startup instruction including the identification of the depth camera to be started, and obtaining the dynamic library path of the depth camera to be started from the preset configuration information according to the identification of the depth camera to be started, the preset configuration information including the identification of the depth camera, the dynamic library path, and the corresponding relationship between the identification of the depth camera and the dynamic library path; Reading parameter information of the depth camera to be started according to the dynamic library path, and loading the parameter information of the depth camera to be started to start the depth camera to be started, and releasing the parameter information after the depth camera to be started is used, wherein the dynamic library path indicates the location where the depth camera stores the parameter information; The startup instruction includes a loading time and a startup time. When the loading time is reached, the parameter information is loaded, the depth camera to be started is in a standby state until the startup time, and when the startup time is reached, the depth camera to be started is started.

9. A loading device for a depth camera, characterized in that: The device comprises: An acquisition module, configured to acquire the depth camera startup instruction, the startup instruction including the identifier of the depth camera to be started, and acquiring the dynamic library path of the depth camera to be started from the preset configuration information according to the identifier of the depth camera to be started, the preset configuration information including the identifier of the depth camera, the dynamic library path, and the corresponding relationship between the identifier of the depth camera and the dynamic library path; A loading module, used to read the parameter information of the depth camera to be started according to the dynamic library path, and load the parameter information of the depth camera to be started to start the depth camera to be started, wherein the dynamic library path represents the location where the depth camera stores the parameter information; Wherein, after the use of the depth camera to be started is completed, the parameter information is released, the start instruction includes a loading time and a start time, when the loading time is reached, the parameter information is loaded, the depth camera to be started is in a standby state until the start time, and when the start time is reached, the depth camera to be started is started.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps implemented by the loading device of the depth camera according to any one of claims 1 to 6 are implemented.

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