Display device and method for obtaining depth image

Abstract

The present disclosure relates to a display device and a method for acquiring a depth image, and relates to the technical field of display devices. It includes: a camera configured to collect images; a controller configured to: determine the exposure state of a first depth image; determine a target exposure value according to the exposure state and a default exposure value; control the camera to obtain a first speckle image based on the default exposure value and a second speckle image based on the target exposure value; and determine a target depth image according to the first speckle image and the second speckle image. Embodiments of the present disclosure are used to solve the problem of missing depth information in a depth image due to the complexity of the shooting scene.

Description

Technical Field

[0001] The present disclosure relates to the technical field of display devices, and in particular, to a display device and a method for obtaining a depth image. Background Art

[0002] With the rapid development of society and technology, the application of three-dimensional (3D) cameras has become increasingly widespread. The complexity of the shooting scene results in the problem of missing depth information in the depth images obtained by 3D cameras. For example, when the object being photographed is relatively close to the 3D camera, the center of the obtained depth image is overexposed, missing the depth information at the center of the depth image. Related technologies mainly improve the brightness uniformity of the depth image by adding diffractive optical elements (DOEs) at the hardware level to obtain a complete depth image, but this increases the hardware cost and is not very operable. Summary of the Invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a display device and a method for obtaining a depth image, which can adapt to various complex shooting scenes and improve the integrity of the depth information in the depth image.

[0004] To achieve the above object, the technical solutions provided by the embodiments of the present disclosure are as follows:

[0005] In a first aspect, the present disclosure provides a display device, which includes:

[0006] A camera configured to collect images;

[0007] A controller configured to: determine the exposure state of a first depth image;

[0008] Determine a target exposure value according to the exposure state and a default exposure value;

[0009] Control the camera to obtain a first speckle image based on the default exposure value and a second speckle image based on the target exposure value;

[0010] Determine a target depth image according to the first speckle image and the second speckle image.

[0011] As an optional implementation manner of the embodiments of the present disclosure, the controller is specifically configured to: determine target pixel points from the respective pixel points of the first depth image, where the target pixel points are pixel points whose depth value difference from adjacent pixel points is greater than or equal to a preset difference; based on the target pixel points, determine a target area in the first depth image; and determine the exposure state of the first depth image according to the position of the target area in the first depth image.

[0012] As an optional implementation manner of the embodiments of the present disclosure, the controller is further configured to: determine the area of the target area;

[0013] The controller is specifically configured to: when the area of the target area is greater than or equal to a preset area, determine the exposure state of the first depth image according to the position of the target area in the first depth image.

[0014] As an optional implementation manner of the embodiments of the present disclosure, the controller is specifically configured to: when it is determined that the target area is in the preset central area of the first depth image according to the position of the target area in the first depth image, determine that the exposure state of the first depth image is overexposed.

[0015] As an optional implementation manner of the embodiments of the present disclosure, the controller is specifically configured to: when it is determined that the target area is in the preset peripheral area of the first depth image according to the position of the target area in the first depth image, determine that the exposure state of the first depth image is underexposed.

[0016] As an optional implementation manner of the embodiments of the present disclosure, when the exposure state is overexposed and the target exposure value is less than the default exposure value, the controller is specifically configured to: determine the target central area in the second speckle image and determine the target peripheral area in the first speckle image; wherein, the target central area corresponds to the first area, and the first area is the area determined according to the target area and the preset central area in the first depth image; the target peripheral area corresponds to the second area, and the second area is the area outside the first area in the first depth image; determine the target depth image according to the target central area and the target peripheral area.

[0017] As an optional implementation manner of the embodiments of the present disclosure, when the exposure state is underexposed and the target exposure value is greater than the default exposure value, the controller is specifically configured to: determine the target peripheral area in the second speckle image and determine the target central area in the first speckle image; wherein, the target peripheral area corresponds to the third area, and the third area is the area determined according to the target area and the preset peripheral area in the first depth image; the target central area corresponds to the fourth area, and the fourth area is the area outside the third area in the first depth image; determine the target depth image according to the target peripheral area and the target central area.

[0018] As an optional implementation manner of the embodiments of the present disclosure, the controller is specifically configured to: control the camera to collect the first infrared image and the first infrared speckle image based on the default exposure value, and collect the second infrared image and the second infrared speckle image based on the target exposure value; determine the first speckle image according to the first infrared image and the first infrared speckle image, and determine the second speckle image according to the second infrared image and the second infrared speckle image.

[0019] As an alternative implementation manner of an embodiment of the present disclosure, the controller is further configured to: after determining the target depth image according to the first speckle image and the second speckle image, determine the three-dimensional coordinates of the object being photographed in the target depth image based on the position information and depth values of each pixel point in the target depth image.

[0020] In a second aspect, a method for obtaining a depth image is provided, including:

[0021] Collect an image;

[0022] Determine the exposure state of the first depth image;

[0023] Determine a target exposure value according to the exposure state and the default exposure value;

[0024] Obtain a first speckle image based on the default exposure value, and obtain a second speckle image based on the target exposure value;

[0025] Determine a target depth image according to the first speckle image and the second speckle image.

[0026] As an alternative implementation manner of an embodiment of the present disclosure, determining a target exposure value according to the exposure state and the default exposure value includes: determining target pixel points from each pixel point of the first depth image, where the target pixel points are pixel points whose depth value difference from adjacent pixel points is greater than or equal to a preset difference; determining a target area in the first depth image based on the target pixel points; and determining the exposure state of the first depth image according to the position of the target area in the first depth image.

[0027] As an alternative implementation manner of an embodiment of the present disclosure, after determining a target area in the first depth image based on the target pixel points, it includes: determining the area of the target area; and determining the exposure state of the first depth image according to the position of the target area in the first depth image, including: when the area of the target area is greater than or equal to a preset area, determining the exposure state of the first depth image according to the position of the target area in the first depth image.

[0028] As an alternative implementation manner of an embodiment of the present disclosure, determining the exposure state of the first depth image according to the position of the target area in the first depth image includes: when it is determined that the target area is in a preset central area of the first depth image according to the position of the target area in the first depth image, determining the exposure state of the first depth image as an overexposed state.

[0029] As an alternative implementation manner of an embodiment of the present disclosure, determining an exposure state of a first depth image according to a position of a target region in the first depth image includes: when it is determined, according to the position of the target region in the first depth image, that the target region is in a preset peripheral region of the first depth image, determining that the exposure state of the first depth image is an underexposed state.

[0030] As an alternative implementation manner of an embodiment of the present disclosure, when the exposure state is an overexposed state and a target exposure value is less than a default exposure value, determining a target depth image according to a first speckle image and a second speckle image includes: determining a target central region in the second speckle image and determining a target peripheral region in the first speckle image; where the target central region corresponds to a first region, and the first region is a region determined in the first depth image according to the target region and a preset central region; the target peripheral region corresponds to a second region, and the second region is a region other than the first region in the first depth image; and determining the target depth image according to the target central region and the target peripheral region.

[0031] As an alternative implementation manner of an embodiment of the present disclosure, when the exposure state is an underexposed state and the target exposure value is greater than the default exposure value, determining a target depth image according to the first speckle image and the second speckle image includes: determining the target peripheral region in the second speckle image and determining the target central region in the first speckle image; where the target peripheral region corresponds to a third region, and the third region is a region determined in the first depth image according to the target region and a preset peripheral region; the target central region corresponds to a fourth region, and the fourth region is a region other than the third region in the first depth image; and determining the target depth image according to the target peripheral region and the target central region.

[0032] As an alternative implementation manner of an embodiment of the present disclosure, obtaining the first speckle image based on the default exposure value and obtaining the second speckle image based on the target exposure value includes: controlling a camera to collect a first infrared image and a first infrared speckle image based on the default exposure value, and collect a second infrared image and a second infrared speckle image based on the target exposure value; determining the first speckle image according to the first infrared image and the first infrared speckle image, and determining the second speckle image according to the second infrared image and the second infrared speckle image.

[0033] As an alternative implementation manner of an embodiment of the present disclosure, after determining the target depth image according to the first speckle image and the second speckle image, it further includes: after determining the target depth image according to the first speckle image and the second speckle image, determining three-dimensional coordinates of an object being photographed in the target depth image based on position information and depth values of each pixel point in the target depth image.

[0034] In a third aspect, a computer-readable storage medium is provided, including: a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for acquiring a depth image as described in the second aspect or any optional implementation manner thereof is implemented.

[0035] In a fourth aspect, a computer program product is provided, characterized by including: when the computer program product runs on a computer, the computer is enabled to implement the method for acquiring a depth image as described in the second aspect or any optional implementation manner thereof.

[0036] The technical solutions provided in the embodiments of the present disclosure have the following advantages compared with the related technologies:

[0037] The present disclosure provides a display device, which acquires an image through a configured camera, determines the exposure state of the acquired first depth image, then determines a target exposure value according to the exposure state and a default exposure value, further acquires a first speckle image based on the default exposure value, and acquires a second speckle image based on the target exposure value, and determines a target depth image according to the first speckle image and the second speckle image, solving the problem of missing depth information in the depth image due to the complexity of the shooting scene, improving the scene adaptability of depth image acquisition, and having strong operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or the related technologies. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic diagram of an operation scenario between the display device and the control device in the embodiments of the present disclosure;

[0041] Figure 2 It is a hardware configuration block diagram of a display device described in the embodiments of the present disclosure;

[0042] Figure 3A It is a schematic diagram of an application scenario of a method for acquiring a depth image provided in the embodiments of the present disclosure Figure 1 ;

[0043] Figure 3B It is a schematic diagram of an application scenario of a method for acquiring a depth image provided in the embodiments of the present disclosure Figure 2 ;

[0044] Figure 4 Schematic flowchart of a method for obtaining a depth image provided by an embodiment of the present disclosure;

[0045] Figure 5A Schematic diagram of a target area provided by an embodiment of the present disclosure Figure 1 ;

[0046] Figure 5B Schematic diagram of a target area provided by an embodiment of the present disclosure Figure 2 ;

[0047] Figure 6A Schematic diagram III of a target area provided by an embodiment of the present disclosure;

[0048] Figure 6B Schematic diagram of a target area provided by an embodiment of the present disclosure Figure 4 ;

[0049] Figure 7A Schematic diagram of determining a target speckle image provided by an embodiment of the present disclosure Figure 1 ;

[0050] Figure 7B Schematic diagram of determining a target speckle image provided by an embodiment of the present disclosure Figure 2 ;

[0051] Figure 8A Schematic diagram III of determining a target speckle image provided by an embodiment of the present disclosure;

[0052] Figure 8B Schematic diagram of determining a target speckle image provided by an embodiment of the present disclosure Figure 4 . Detailed implementation manners

[0053] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0054] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure, but the present disclosure may be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0055] In the description and claims of this application and the above-mentioned drawings, the terms "first", "second", "third", etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products, or devices. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations. In addition, in the description of this application, unless otherwise specified, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0056] Those skilled in the art can understand that due to the structure of the lens in a 3D camera, when the lens receives laser light and forms an image, generally the image brightness in the middle area is higher than that in the edge area. When the 3D camera is used in a high-brightness environment such as strong light or strong sunlight, it will affect the brightness of the speckle pattern collected by the 3D camera. For example, the received speckle points are submerged in the background, or the overall brightness of the speckle pattern is relatively large, and even some speckle points will be overexposed, and adjacent speckle points are connected together and cannot be distinguished, resulting in poor depth image quality and incomplete depth information. In addition, when the distance between the object to be photographed and the 3D camera is relatively far, the light energy reflected by the object to be photographed is weak, which will also affect the brightness of the speckle pattern estimated and collected under structured light. For example, the speckle pattern is underexposed, the brightness of the speckle pattern is relatively low, and the speckle points cannot be accurately extracted, resulting in poor depth image quality. When the distance between the object to be photographed and the 3D camera is relatively close, the light energy reflected by the object to be photographed is too strong, which will also affect the brightness of the speckle pattern collected by the structured light camera. For example, the overall brightness of the speckle pattern is relatively large, and even some speckle points will be overexposed, and adjacent speckle points are connected together and cannot be distinguished, resulting in poor depth image quality and incomplete depth information.

[0057] In related technologies, to improve the quality of the depth image, mainly by adding an optical diffraction element DOE at the hardware level, so that the speckle points in the diffraction center area of one DOE and the speckle points in the diffraction edge area of another DOE, thereby improving the brightness uniformity of the depth image and achieving the purpose of improving the depth image quality. However, such a technical solution increases the hardware cost, has poor operability, and cannot adapt to the switching of complex shooting scenarios.

[0058] To solve the above technical problems, embodiments of the present disclosure provide a display device and a method for obtaining a depth image. Specifically, the display device first captures an image through a configured camera, determines the exposure state of the first depth image captured, then determines a target exposure value based on the exposure state and a default exposure value, obtains a first speckle image based on the default exposure value, obtains a second speckle image based on the target exposure value, and determines a target depth image based on the first speckle image and the second speckle image, thereby solving the problem of missing depth information in the depth image due to the complexity of the shooting scene, and improving the scene adaptability and operability of depth image acquisition.

[0059] Figure 1 It is a schematic diagram of the operation scenario between the display device and the control device in the embodiments of the present disclosure.

[0060] In some embodiments, the user can operate the display device 200 through the smart device 300 or the control device 100, and the display device 200 communicates with the server 400 for data.

[0061] As Figure 1 shown, taking the operation of the display device 200 by the control device 100 as an example, the application scenario of the display device provided by the present disclosure is described. In one application scenario, the user operates the display device 200 through the control device 100 to perform entertainment activities such as somatosensory games and fitness through the display device 200. The control device 100 sends an instruction to the display device 200 according to the user's operation. When the display device 200 determines that the user needs to perform a somatosensory game according to the instruction, it captures an image through the camera configured on the display device 200, determines the exposure state of the first depth image captured, then determines a target exposure value based on the exposure state and a default exposure value, obtains a first speckle image based on the default exposure value, obtains a second speckle image based on the target exposure value, and determines a target depth image based on the first speckle image and the second speckle image. The transformation of the user's actions during the somatosensory game can be determined according to the target depth image, improving the interactivity of the somatosensory game and meeting the diverse needs of users.

[0062] In some embodiments, the control device 100 may be a remote control. The communication between the remote control and the terminal device includes infrared protocol communication or Bluetooth protocol communication, as well as other short - distance communication methods, and controls the display device 200 wirelessly or by wire. The user can input user instructions through the buttons on the remote control, voice input, control panel input, etc. to control the display device 200.

[0063] In some embodiments, the smart device 300 (such as a mobile terminal, a tablet computer, a computer, a laptop, etc.) can also be used to control the display device 200. For example, an application program running on the smart device is used to control the display device 200.

[0064] In some embodiments, the display device 200 may also receive instructions without using the above-mentioned intelligent device or control device, but receive user control through touch or gestures, etc.

[0065] In some embodiments, the display device 200 may also be controlled in a manner other than the control device 100 and the intelligent device 300. For example, it may directly receive a user's voice command for control through a module for obtaining voice commands configured inside the display device 200, or receive a user's voice command for control through a voice control device provided outside the display device 200.

[0066] In some embodiments, the display device 200 may be allowed to communicate and connect through a local area network (LAN), a wireless local area network (WLAN), and other networks. The server 400 may provide various contents and interactions to the display device 200. The server 400 may be a cluster or multiple clusters, and may include one or more types of servers. Or it may be a cloud server. The above is only an example, and no limitation is made in this embodiment.

[0067] Figure 2 This is a hardware configuration block diagram of a display device according to an embodiment of the present disclosure. As Figure 2 shown, the display device includes at least one of a tuner demodulator 210, a communicator 220, a detector 230, an external device interface 240, a controller 250, a display 260, an audio output interface 270, a memory, a power supply, and a user interface. The controller includes a central processing unit, a video processor, an audio processor, a graphics processor, a random access memory (RAM), a read-only memory (ROM), and a first interface to an nth interface for input / output. The display 260 may be at least one of a liquid crystal display, an OLED display, a touch display, and a projection display, and may also be a projection device and a projection screen. The tuner demodulator 210 receives a broadcast television signal through a wired or wireless reception method, and demodulates an audio-visual signal from multiple wireless or wired broadcast television signals, such as an electrical program guide (EPG) data signal. The detector 230 is used to collect signals from the external environment or interact with the outside. The controller 250 and the tuner demodulator 210 may be located in different split devices, that is, the tuner demodulator 210 may also be in an external device of the main device where the controller 250 is located, such as an external set-top box, etc.

[0068] In some embodiments, the controller 250 controls the operation of the display device and responds to user operations through various software control programs stored in the memory. The controller 250 controls the overall operation of the display device 500. If a user inputs a user command through the graphical user interface (GUI) displayed on the display 260, the user input interface receives the user input command through the graphical user interface. Alternatively, if the user inputs a user command by inputting a specific sound or gesture, the user input interface receives the user input command by identifying the sound or gesture through a sensor.

[0069] In some embodiments, a "user interface" is a media interface for interaction and information exchange between an application program or an operating system and a user, and it realizes the conversion between the internal form of information and the form acceptable to the user. The common manifestation form of the user interface is the graphical user interface, which refers to the user interface related to computer operation displayed in a graphical manner. It can be an interface element such as an icon, a window, a control, etc. displayed on the display screen of an electronic device, where the control can include at least one of visible interface elements such as an icon, a button, a menu, a tab, a text box, a dialog box, a status bar, a navigation bar, a web widget (Widget), etc.

[0070] In some embodiments, the controller includes at least one of a central processing unit (CPU), a video processor, an audio processor, a graphics processing unit (GPU), a random access memory (RAM), a read-only memory (ROM), and a digital signal processor (DSP) for the first interface to the nth interface for input / output, a communication bus (Bus), etc.

[0071] The CPU processor is used to execute the operating system and application program instructions stored in the memory, and execute various application programs, data, and content according to various interaction instructions received externally, so as to finally display and play various audio and video contents. The CPU processor may include multiple processors. For example, it includes a main processor and one or more sub-processors.

[0072] The present disclosure provides a display device 200, which includes:

[0073] A camera 201 configured to collect images;

[0074] A controller 202 configured to: determine the exposure state of the first depth image;

[0075] Determine a target exposure value according to the exposure state and the default exposure value;

[0076] Control the camera to obtain a first speckle image based on the default exposure value and a second speckle image based on the target exposure value;

[0077] Determine a target depth image according to the first speckle image and the second speckle image.

[0078] It should be noted that the function of the camera 201 is the same as or similar to that of the image collector in the above detector 230. The camera 201 can be a structured light camera with various structures such as monocular and binocular. The present disclosure does not make specific limitations on this.

[0079] The above display device collects an image through the configured camera, determines the exposure state of the collected first depth image, then determines the target exposure value according to the exposure state and the default exposure value, obtains the first speckle image based on the default exposure value, and obtains the second speckle image based on the target exposure value, and determines the target depth image according to the first speckle image and the second speckle image, solving the problem of missing depth information in the depth image due to the complexity of the shooting scene, improving the scene adaptability of depth image acquisition, and having strong operability.

[0080] As Figure 3A shown, Figure 3A is a schematic diagram of an application scenario of a method for obtaining a depth image provided by an embodiment of the present disclosure Figure 1 , Figure 3A which includes a display device 200, and the display device 200 is configured with a 3D camera 201. Figure 3AIn the method, the user obtains the depth image of the user through the display device 200 for face recognition. During this process, the distance between the user and the 3D camera 201 is relatively close, which is the distance d. Generally, due to the shooting principle of the 3D camera and the relatively small distance d between the user and the 3D camera 201, the first depth map collected is in an overexposed state, showing a bright center and a dark periphery in the image. In this scenario, the 3D camera 201 configured on the display device 200 is used to collect images, and the first depth image of the user is collected. Then, the controller of the display device 200 determines that the exposure state of the first depth image of the user collected by the 3D camera 201 is in an overexposed state, and then determines the target exposure value as an exposure value less than the default exposure value according to the overexposed state and the default exposure value, controls the 3D camera 201 to obtain the first speckle image based on the default exposure value, and obtains the second speckle image according to the target exposure value. Finally, the target depth image is determined according to the first speckle image and the second speckle image, solving the problems of overexposure of the depth image and missing depth information caused by the relatively close distance between the user and the 3D camera, so as to obtain the face depth image of the user with complete depth information, making face recognition more accurate.

[0081] As Figure 3B shown, Figure 3B This is a schematic diagram of the application scenario of a method for obtaining a depth image provided by an embodiment of the present disclosure. Figure 2 , Figure 3B It includes a display device 200, and the display device 200 is configured with a 3D camera 201. Figure 3B In the method, the user conducts entertainment activities such as a motion-sensing game and motion-sensing fitness through the display device 200. During this process, the distance between the user and the 3D camera 201 is relatively far, which is the distance D. Generally, due to the shooting principle of the 3D camera and the relatively large distance D between the user and the 3D camera 201, the first depth map collected is in an underexposed state, showing a dark center and a bright periphery in the image. In this scenario, the 3D camera 201 configured on the display device 200 is used to collect images, and the first depth image of the user is collected. Then, the controller of the display device 200 determines that the exposure state of the first depth image of the user collected by the 3D camera 201 is in an underexposed state, and then determines the target exposure value as an exposure value greater than the default exposure value according to the underexposed state and the default exposure value, controls the 3D camera 201 to obtain the first speckle image based on the default exposure value, and obtains the second speckle image according to the target exposure value. Finally, the target depth image is determined according to the first speckle image and the second speckle image, solving the problems of underexposure of the depth image and missing depth information caused by the relatively far distance between the user and the 3D camera, so as to obtain a depth image with complete depth information and improve the user experience.

[0082] A method for obtaining a depth image provided in an embodiment of the present disclosure can be implemented by a computer device, which includes but is not limited to a server, a personal computer, a laptop computer, a tablet computer, a smart TV, a vehicle-mounted device, etc. The computer device includes a user device and a network device. Among them, the user device includes but is not limited to a computer, a smart phone, a tablet computer, etc.; the network device includes but is not limited to a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of computers or network servers in cloud computing. Among them, cloud computing is a type of distributed computing, which is composed of a group of loosely coupled computers to form a super virtual computer. Among them, the computer device can run independently to implement the present disclosure, or can be connected to the network and implement the present disclosure through interaction with other computer devices in the network. Among them, the network where the computer device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private (Virtual Private Network, VPN) network, etc.

[0083] It should be noted that the protection scope of a method for obtaining a depth image described in an embodiment of the present disclosure is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding or subtracting steps or replacing steps of related technologies according to the principle of the present disclosure is included in the protection scope of the present disclosure.

[0084] As Figure 4 shown, Figure 4 is a schematic flowchart of a method for obtaining a depth image provided in an embodiment of the present disclosure. The method includes:

[0085] S401. Collect an image.

[0086] In some embodiments, the display device provided in the present disclosure is configured with a camera, and the camera can be a structured light camera with various structures such as monocular and binocular. The present disclosure does not make specific limitations on this. Among them, the camera includes but is not limited to an infrared light emitter and an infrared light camera.

[0087] Among them, the image includes but is not limited to: an infrared image and an infrared speckle image. Taking a structured light camera as an example, the infrared image is an image collected by an infrared light camera when the infrared light emitter of the structured light camera emits infrared light, and the infrared speckle image is an image collected by an infrared light camera when the infrared light emitter of a 3D camera projects an infrared speckle image. It can be understood that the infrared speckle image contains both infrared information and speckle information.

[0088] In some embodiments, a first infrared speckle image is collected by the camera, and a disparity image is calculated according to a preset reference infrared speckle image to obtain a first depth image.

[0089] Among them, the conversion formula between the disparity image and the depth image is:

[0090]

[0091] In formula (1), b is the baseline of the 3D camera, f is the camera focal length of the 3D camera, which generally refers to the camera focal length of the infrared camera included in the 3D camera, and d is the parallax value of the speckle.

[0092] S402. Determine the exposure state of the first depth image.

[0093] Among them, the exposure state includes: overexposure state, underexposure state, and normal state.

[0094] In some embodiments, the exposure state of the first depth image is determined by determining the positions of the pixel points lacking depth information in the first depth image. The pixel points lacking depth information can be determined by calculating the depth difference with adjacent pixel points. It can be understood that there are sudden changes in the depth values of the adjacent pixel points of the pixel points lacking depth information and the change amount of the depth values is greater than a preset difference; the pixel points lacking depth information can also be the pixel points with depth values less than a preset depth value, such as pixel points with a depth value of 0.

[0095] In some embodiments, the present disclosure determines the target pixel points in the first depth image through an edge detection method in image processing. The target pixel points are the pixel points where the depth value difference between adjacent pixel points is greater than or equal to a preset difference. Among them, the edge detection method includes but is not limited to: edge detection method based on differential operator, edge detection method based on Laplacian operator, and edge detection method based on Canny operator. An implementation manner is provided in the embodiments of the present disclosure to determine the target pixel points through a differential edge detection method. The differential edge detection method sets a 9×9 neighborhood:

[0096]

[0097] Then, all pixel points in the first depth image are traversed using the above 9×9 neighborhood.

[0098] For each pixel point in the first depth image, calculate the depth difference between adjacent pixel points through formula (2) and formula (3)

[0099]

[0100] Among them, f(m,n) represents the change amount of the depth value at the pixel point with coordinates (m,n), and the depth value difference of the pixel point (m,n) is G(m,n)≈|G(m)|+|G(n)|.

[0101] Determine whether the depth difference is greater than or equal to a preset difference. If the depth difference is greater than or equal to the preset difference, determine that the pixel point is a target pixel point.

[0102] Determine a target area in the first depth image according to the target pixel points. The target area is an area where depth information is missing. It can be understood that the target area is the internal area enclosed by the connection of the target pixel points. As shown in FIG. 5, Figure 5A is a schematic diagram of the target area provided in the embodiment of the present disclosure Figure 1 , Figure 5A includes the first depth image 501. The target area 502 in the first depth image 501 is the internal area enclosed by the connection of the target pixel points 503, Figure 5A only shows some target pixel points. The target area can also be a polygon area determined according to the minimum abscissa, maximum abscissa, minimum ordinate, and maximum ordinate in the position information of the target pixel in the pixel coordinate system of the first depth image. For example, Figure 5B shown, Figure 5B is a schematic diagram of the target area provided in the embodiment of the present disclosure Figure 2 . Figure 5B includes the first depth image 501. The minimum abscissa XA, maximum abscissa XB, minimum ordinate YC, and maximum ordinate YD of the target pixel point 502, then the target area is the polygon area 503 composed of points A, B, C, and D.

[0103] In practical applications, although there is an area where depth information is missing in the first depth image, that is, the target area, due to the too small area of the target area, the three-dimensional coordinates of the photographed object obtained based on this depth image will not be affected. Therefore, the target area with too small an area can be ignored. On the contrary, when the target area reaches a certain area, it will affect the acquisition of the three-dimensional coordinates of the photographed object. Therefore, it is necessary to judge according to the area of the target area to determine whether filling is required. In some embodiments of the present disclosure, the area of the target area is determined according to the target area, and then it is judged whether the area of the target area is greater than or equal to a preset area. When the area of the target area is greater than or equal to the preset area, the exposure state of the first depth image is determined according to the position of the target area in the first depth image. When the area of the target area is less than the preset area, it means that the first depth image is in a normal state, and the area where its depth information is missing will not affect the acquisition of the three-dimensional coordinates of the photographed object.

[0104] In the above embodiments, after determining the target region, the target region is compared with a preset region to determine the exposure state of the first depth image. The preset region corresponds to a preset reference infrared speckle image, and can be a preset central region or a preset peripheral region. Information such as the shape, quantity, and regularity of the speckle points in the preset reference infrared speckle image is fixed, and both the preset reference infrared speckle image and the first depth image are obtained by the same camera, so the pixel points in the two images are aligned. The preset central region in the first depth image can be determined according to the preset central region in the preset reference infrared speckle image, or the preset peripheral region in the first depth image can be determined according to the preset peripheral region in the preset reference infrared speckle image.

[0105] In some embodiments, according to the position of the target region in the first depth image, it is determined whether the target region is in the preset central region or the preset peripheral region of the first depth image. The preset region is determined according to the preset reference infrared speckle image. It can be understood that the image corresponding to the preset central region and the preset peripheral region constitute a complete reference infrared speckle image. First, it is determined whether the pixel points included in the target region are in the preset central region. When a certain number of pixel points included in the target region are in the preset central region, it is determined that the target region is in the preset central region of the first depth image, indicating that the depth information of the central region is mainly missing in the first depth image. For example, if 80% of the pixel points included in the target region are in the preset central region, it is determined that the target region is in the preset central region of the first depth image.

[0106] Exemplarily, as Figure 6A shown, Figure 6A FIG. 3 is a schematic diagram of the target region provided in the embodiments of the present disclosure. Figure 6A It includes a first depth image 601, a target region 602, and a preset central region 603. It is calculated that among the pixel points included in the target region 602, more than 80% of the pixel points are in the preset central region 603, so it is determined that the target region 602 is in the preset central region 603 of the first depth image.

[0107] When a certain number of pixel points included in the target region are in the preset peripheral region, it is determined that the target region is in the preset peripheral region of the first depth image, indicating that the depth information of the peripheral region is mainly missing in the first depth image. For example, if 80% of the pixel points included in the target region are in the preset peripheral region, it is determined that the target region is in the preset peripheral region of the first depth image.

[0108] Exemplarily, as Figure 6B shown, Figure 6B FIG. is a schematic diagram of the target region provided in the embodiments of the present disclosure. Figure 4 , Figure 6BIt includes a first depth image 601, a target area 604, and a preset peripheral area 605. It is calculated that more than 80% of the pixel points included in the target area 604 are in the preset peripheral area 605. Therefore, it is determined that the target area 604 is in the preset peripheral area 605 of the first depth image.

[0109] Then, when it is determined that the target area is in the preset central area of the first depth image, the exposure state of the first depth image is determined to be overexposed; when it is determined that the target area is in the preset peripheral area of the first depth image, the exposure state of the first depth image is determined to be underexposed.

[0110] In some embodiments, all pixel points in the first depth image are traversed, and the pixel points with pixel values less than the preset pixel value are determined as target pixel points. If the proportion of the number of target pixel points in the first depth image to the total number of all pixel points in the first depth image is less than the preset threshold, it means that the depth information in the first depth image is complete and in a normal state, and the present disclosure does not process this.

[0111] If the proportion of the number of target pixel points in the first depth image to the total number of all pixel points in the first depth image is greater than or equal to the preset threshold, it means that the depth information in the first depth image is incomplete and may be in an overexposed state or an underexposed state.

[0112] According to the positions of the target pixel points, determine whether the exposure state of the first depth image is overexposed or underexposed. First, determine the target area according to the positions of the target pixel points. If the proportion of the target pixel points in the target area that are the hole points in the preset central area of the first depth image is greater than or equal to the preset proportion, it is determined that the target area is in the preset central area of the first depth image, indicating that the depth information in the preset central area of the first depth image is incomplete, and the exposure state of the first depth image is determined to be overexposed; otherwise, if the proportion of the target pixel points in the preset central area of the first depth image among these target pixel points is less than the preset proportion, it means that the depth information in the preset central area of the first depth image is complete. Then, in the case where there are target pixel points in the first depth image, it means that these target pixel points are in the area of the first image other than the preset central area, that is, the target area is in the preset peripheral area of the first depth image, and the exposure state of the first depth image can be determined to be underexposed.

[0113] In some embodiments, when the exposure state of the first depth image is determined to be in a normal state, the first depth image is output, indicating that the depth information of the first depth image is complete, or the missing depth information does not affect the acquisition of the three-dimensional coordinates of the photographed object. Thus, the three-dimensional coordinates of the photographed object are obtained according to the first depth image, adapting to diverse application scenarios and meeting the diverse needs of users.

[0114] In the above embodiments, according to the depth values of each pixel point in the first depth image, the pixel points with the depth change value between adjacent pixel points greater than a preset difference are determined as target pixel points, or the pixel points with the depth value less than the preset depth value are determined as target pixel points. The target area, that is, the area where depth information is missing, is determined according to the target pixel points, so as to judge the exposure state of the first depth image. By judging the exposure state of the first depth image, a suitable implementation method can be accurately selected to obtain a target depth image with complete depth information, so as to directly output the first depth image with normal exposure, and screen out the overexposed or underexposed first depth images for subsequent processing.

[0115] S403. Determine the target exposure value according to the exposure state and the default exposure value.

[0116] In some embodiments, when the exposure state is overexposed, the target exposure value is determined to be an exposure value less than the default exposure value according to the default exposure value, so that the camera can obtain the depth information missing in the default exposure value at the target exposure value (low exposure value).

[0117] In some embodiments, when the exposure state is underexposed, the target exposure value is determined to be an exposure value greater than the default exposure value according to the default exposure value, so that the camera can obtain the depth information missing in the default exposure value at the target exposure value (high exposure value).

[0118] S404. Obtain the first speckle image based on the default exposure value, and obtain the second speckle image based on the target exposure value.

[0119] In some embodiments, based on the default exposure value, the camera collects a first infrared image and a first infrared speckle image, and performs a difference calculation on the first infrared image and the first infrared speckle image to obtain the first speckle image, removing unnecessary interference information to obtain the first speckle image under the default exposure value. Moreover, based on the target exposure value, the camera collects a second infrared image and a second infrared speckle image, and performs a difference calculation on the second infrared image and the second infrared speckle image to obtain the second speckle image.

[0120] Based on the exposure state of the above first depth image, when the first depth image is in an overexposed state, according to the default exposure value, that is, the exposure value corresponding to the first depth image, the first infrared image and the first infrared speckle image are collected, and further the first speckle image is obtained; the target exposure value is an exposure value less than the default exposure value. It can be understood that, at a low exposure value, the second infrared image and the second speckle infrared image are collected, and further the second speckle image at the low exposure value is obtained.

[0121] When the first depth image is underexposed, according to the default exposure value, that is, the exposure value corresponding to the first depth image, the first infrared image and the first infrared speckle image are collected, and then the first speckle image is further obtained. Moreover, the target exposure value is an exposure value greater than the default exposure value. At the high exposure value, the second infrared image and the second speckle infrared image are collected, and the second speckle image at the high exposure value is obtained through differential calculation.

[0122] S505. Determine the target depth image according to the first speckle image and the second speckle image.

[0123] The following describes the process of determining the target depth image respectively from two situations of overexposure state and underexposure state according to the exposure state of the first depth image:

[0124] (1) Overexposure state

[0125] In some embodiments, when the first depth image is in an overexposed state, the target central region in the second speckle image is determined. First, in the first depth image, a first region is determined according to the target region and the preset central region. According to the position information of the first region, the corresponding target central region is determined in the second speckle image. According to the position information of the second region, the corresponding target peripheral region is determined in the second speckle image, where the second region is the region in the first depth image other than the first region.

[0126] Exemplarily, as Figure 7A shown, Figure 7A is a schematic diagram of determining the target speckle image in an embodiment of the present disclosure Figure 1 , Figure 7A in (a), it includes the first depth image 701, the target region 702 is entirely located in the preset central region 703, but the target region 702 does not completely fill the preset central region 703. The size of the preset central region 703 can be used as the size of the target central region 704. As Figure 7A shown in (b), that is, according to the position information of the preset central region 703, the region with the same position information is determined from the second speckle image 701a as the target central region 704; as Figure 7A shown in (c), according to the position information of the region outside the preset central region 703, that is, the position information of the preset peripheral region 705, the region with the same position is determined from the first speckle image 701b as the target peripheral region 706. According to the target central region 704 and the target peripheral region 706, the target speckle image 701c as shown in Figure 7A (d) is determined.

[0127] Another exemplarily, as Figure 7B shown, Figure 7A is a schematic diagram of the target central region in an embodiment of the present disclosureFigure 2 , Figure 7B In (a), it includes a first depth image 701, where a target region 702 is partially located in a preset central region 703 and another part extends beyond the preset central region 703. According to the position information of the preset central region 703 in the first depth image and the position information of the extended part in the target region 702, a first region in the first depth image is determined. As Figure 7B shown in (b), a region with the same position information as the first region is determined from the second speckle image 701b as the target central region 714. As Figure 7B shown in (c), according to the position information of the first region in the first depth image, a region other than the first region 714 is determined from the first speckle image 701a as the second region, and a region with the same position information as the second region is determined from the second depth image as the target peripheral region 715. According to the target central region 714 and the target peripheral region 715, a target speckle image 701c as shown in Figure 7A (d) is determined.

[0128] Through the above embodiments, when the first depth image is in an overexposed state and the depth information of the target region is missing, based on the first speckle image under the default exposure value and the second speckle image under the low exposure value, the depth information missing in the target region of the first depth image is filled by using the target central region of the second speckle image under the low exposure value. It can be understood that the target central region of the second speckle image and the target peripheral region of the first speckle image are fused and stitched to obtain a target speckle image with complete depth information, and the target depth image is determined according to the target speckle image.

[0129] (2) Underexposed state

[0130] In some embodiments, in the case where the first depth image is in an underexposed state, the target peripheral region in the second speckle image is determined. First, a third region is determined in the first depth image according to the target region and the preset peripheral region, and a target peripheral region corresponding to the third region is determined in the second speckle image according to the position information of the third region. A fourth region outside the third region is determined in the first depth image, and a target central region corresponding to the fourth region is determined in the first speckle image according to the position information of the fourth region.

[0131] Exemplarily, as Figure 8A shown, Figure 8A is a schematic diagram III for determining the target speckle image in the embodiments of the present disclosure. Figure 8A In (a), it includes a first depth image 801, where the target region 802 is entirely located in the preset peripheral region 803, but the target region 802 does not completely occupy the preset peripheral region 803. The size of the preset peripheral region 803 can be used as the size of the target peripheral region 804. As Figure 8AIn (b), according to the position information of the preset peripheral region 803, the region with the same position information is determined from the second speckle image 801b as the target peripheral region 804. As shown in Figure 8A In (c), according to the position information of the region outside the preset peripheral region 803, that is, the position information of the preset central region, the region with the same position is determined from the first speckle image 801a as the target central region 805. Determine the target speckle image 801c as shown in Figure 8A (d).

[0132] Exemplarily, as shown in Figure 8B shown Figure 8B is a schematic diagram of determining the target speckle image in the embodiment of the present disclosure Figure 4 , Figure 8B In (a), it includes the first depth image 801. Part of the target region 802 is located in the preset peripheral region 803, and the other part exceeds the preset peripheral region 803. According to the position information of the preset peripheral region 803 in the first depth image and the position information of the exceeded part in the target region 802, the third region in the first depth image is determined. As shown in Figure 8B In (b), the region with the same position information as the third region is determined from the second speckle image 801b as the target peripheral region 811. According to the position information of the third region in the first depth image above, the region other than the third region is determined as the fourth region. As shown in Figure 8B In (c), the region with the same position information as the fourth region is determined from the second depth image as the target central region 812. Determine the target speckle image 801c as shown in Figure 8B (d).

[0133] Through the above embodiments, when the first depth image is in an underexposed state and the depth information of the target region is missing, based on the first speckle image under the default exposure value and the second speckle image under the high exposure value, the depth information missing in the target region of the first depth image is filled by using the target peripheral region of the second speckle image under the high exposure value. It can be understood that the target peripheral region of the second speckle image and the target central region of the first speckle image are fused and stitched to obtain a target speckle image with complete depth information. The target depth image is determined according to the target speckle image.

[0134] In some embodiments, in the process of determining the target depth image according to the target speckle image, if the speckles in the target speckle image are complete, the depth information in the target depth image obtained according to the target speckle image is also complete. First, according to the target speckle image and the preset reference speckle image, the target disparity map is determined. According to the target disparity map and the conversion formula between the disparity image and the depth image described above, the target depth image can be obtained.

[0135] After obtaining the target depth image, in order to obtain the three-dimensional coordinates of the object being photographed in the target depth image, first determine the position information and depth value of each pixel point in the target depth image. Based on the pinhole model:

[0136]

[0137] Denote the expression in Equation (4) as as K, and denote

[0138]

[0139] In Equation (5), is the position of the pixel point corresponding to point P in the target depth image in the world coordinate system, and the origin of the world coordinate system is established at the camera optical center; is the position of the pixel point corresponding to point P in the target depth image in the image coordinate system; is the position of the pixel point corresponding to point P in the target depth image in the camera coordinate system; K is the internal parameter matrix of the camera, obtained by camera parameter calibration; T is the external parameter matrix of the camera, which is the identity matrix.

[0140] According to the three-dimensional coordinates of point P are obtained:

[0141]

[0142] The above point P is any pixel point in the target depth image. The three-dimensional coordinates of each pixel point in the target depth image can be calculated through the above formula. According to the three-dimensional coordinates of these pixel points, the three-dimensional coordinates of the object being photographed in the target depth image in three-dimensional space can be determined. Thus, the diverse needs of users are satisfied, such as adapting to close-range shooting scenarios for face recognition, or adapting to long-range shooting scenarios for somatosensory games or fitness.

[0143] In summary, the present disclosure provides a method for obtaining a depth image. An image is collected by a configured camera, the exposure state of the collected first depth image is determined, then the target exposure value is determined according to the exposure state and the default exposure value, a first speckle image is obtained based on the default exposure value, and a second speckle image is obtained based on the target exposure value. The target depth image is determined according to the first speckle image and the second speckle image, solving the problem of missing depth information in the depth image due to the complexity of the shooting scene, improving the scene adaptability of depth image acquisition, and having strong operability.

[0144] An embodiment of the present disclosure provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, each process of the method for obtaining a depth image in the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0145] Among them, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or the like.

[0146] An embodiment of the present disclosure provides a computer program product, the computer program product stores a computer program, and when the computer program is executed by a processor, each process of the method for obtaining a depth image in the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0147] Those skilled in the art should understand that the embodiments of the present disclosure may be provided as a method, a system, or a computer program product. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure may adopt the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0148] In the present disclosure, the processor may be a central processing unit (CPU), or may also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0149] In the present disclosure, the memory may include non-permanent memory in the computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0150] In this disclosure, computer-readable media include both permanent and non-permanent, removable and non-removable storage media. The storage media can implement information storage by any method or technology, and the information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media do not include transitory media such as modulated data signals and carrier waves.

[0151] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0152] The above are only specific embodiments of this disclosure, enabling those skilled in the art to understand or implement this disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure will not be limited to these embodiments herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A display device, characterized in that, Comprising: A camera configured to acquire images; A controller configured to: determine the exposure state of a first depth image; Determine a target exposure value according to the exposure state and a default exposure value; Control the camera to acquire a first speckle image based on the default exposure value and a second speckle image based on the target exposure value; Determine a target depth image according to the first speckle image and the second speckle image; The controller is specifically configured to: determine target pixels from each pixel of the first depth image, where the target pixels are pixels with a depth value difference from adjacent pixels greater than or equal to a preset difference; Determine a target area in the first depth image based on the target pixels; Determine the area of the target area; When the area of the target area is greater than or equal to a preset area, determine the exposure state of the first depth image according to the position of the target area in the first depth image.

2. The display device according to claim 1, wherein The controller is specifically configured to: When it is determined that the target area is in a preset central area of the first depth image according to the position of the target area in the first depth image, determine that the exposure state of the first depth image is an overexposed state.

3. The display device according to claim 1, characterized in that The controller is specifically configured to: When it is determined that the target area is in a preset peripheral area of the first depth image according to the position of the target area in the first depth image, determine that the exposure state of the first depth image is an underexposed state.

4. The display device according to claim 2, wherein: When the exposure state is an overexposed state and the target exposure value is less than the default exposure value, the controller is specifically configured to: Determine a target central area in the second speckle image, Determine a target peripheral area in the first speckle image; Wherein, the target central area corresponds to a first area, and the first area is an area determined in the first depth image according to the target area and the preset central area; the target peripheral area corresponds to a second area, and the second area is an area outside the first area in the first depth image; Determine the target depth image according to the target central area and the target peripheral area.

5. The display device according to claim 3, wherein When the exposure state is an underexposed state and the target exposure value is greater than the default exposure value, the controller is specifically configured to: Determine a target peripheral area in the second speckle image, Determine a target central area in the first speckle image; Wherein, the target peripheral area corresponds to a third area, and the third area is an area determined in the first depth image according to the target area and the preset peripheral area; the target central area corresponds to a fourth area, and the fourth area is an area outside the third area in the first depth image; Determine the target depth image according to the target peripheral area and the target central area.

6. The display device according to claim 1, wherein Comprising: The controller is specifically configured to: Control the camera to acquire a first infrared image and a first infrared speckle image based on the default exposure value, and acquire a second infrared image and a second infrared speckle image based on the target exposure value; Determine the first speckle image according to the first infrared image and the first infrared speckle image, and determine the second speckle image according to the second infrared image and the second infrared speckle image.

7. The display device according to claim 1, wherein Including: The controller is further configured to: After determining the target depth image according to the first speckle image and the second speckle image, determine the three-dimensional coordinates of the object being photographed in the target depth image based on the position information and depth values of each pixel point in the target depth image.

8. A method for obtaining a depth image, characterized in that, Including: Collect images; Determine the exposure state of the first depth image; Determine the target exposure value according to the exposure state and the default exposure value; Obtain the first speckle image based on the default exposure value, and obtain the second speckle image based on the target exposure value; Determine the target depth image according to the first speckle image and the second speckle image; The determining the exposure state of the first depth image includes: determining target pixel points from each pixel point of the first depth image, where the target pixel points are pixel points whose depth value difference from adjacent pixel points is greater than or equal to a preset difference; Based on the target pixel points, determine the target area in the first depth image; Determine the area of the target area; When the area of the target area is greater than or equal to a preset area, determine the exposure state of the first depth image according to the position of the target area in the first depth image.

Images