Event camera testing method, device, equipment and readable storage medium

Abstract

The present application provides an event camera test method, device, equipment and readable storage medium, the method comprising: controlling the event camera to collect event data under different light contrasts according to a preset reference light illuminance; statistically analyzing the event generation rate corresponding to the light contrast based on each event data; establishing a test database for each reference light illuminance; wherein the test database includes a mapping relationship between different light contrasts and event generation rates. Through the implementation of the scheme of the present application, the event generation rates under different light contrasts are tested according to the reference light illuminance to obtain the light response sensitivity of the event camera under different light conditions, which can provide an effective reference indicator for the use and calibration of the event camera and improve the user experience.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to an event camera testing method, device, equipment and readable storage medium. Background Art

[0002] With the continuous development of science and technology, computer vision technology has become more and more mature. The emergence of event cameras has attracted more and more attention in the field of vision. The event-based vision sensor (EVS) it uses simulates the human retina and responds to the pixel pulses of brightness changes caused by movement. Therefore, it can capture the brightness changes of the scene at a very high frame rate, record events at specific time points and specific locations in the image, and form an event stream instead of a frame stream, thus solving the problems of traditional camera information redundancy, large data storage volume and real-time processing volume.

[0003] For event cameras, the illumination response sensitivity index is an important factor affecting their working quality. If the illumination response sensitivity index is too low, the event camera will not be able to effectively image. On the contrary, if the illumination response sensitivity index is too high, the event camera will generate information redundancy. Therefore, an effective illumination response sensitivity index test method is urgently needed to test the illumination response sensitivity index of event cameras. Summary of the invention

[0004] The embodiments of the present application provide an event camera testing method, apparatus, device and readable storage medium, which can at least solve the problem that the related art lacks an effective method for testing the illumination response sensitivity index of an event camera.

[0005] A first aspect of an embodiment of the present application provides an event camera testing method, comprising:

[0006] According to the preset reference light intensity, the event camera is controlled to collect event data under different light contrasts;

[0007] Counting the event generation rate corresponding to the illumination contrast based on each of the event data;

[0008] A test database for each of the reference light illuminations is established; wherein the test database includes a mapping relationship between different light contrasts and event generation rates.

[0009] A second aspect of an embodiment of the present application provides an event camera testing device, comprising:

[0010] A control module, used for controlling the event camera to collect event data under different illumination contrasts according to a preset reference illumination;

[0011] A statistical module, used for counting the event generation rate corresponding to the illumination contrast based on each of the event data;

[0012] An establishing module is used to establish a test database for each of the reference light illuminations; wherein the test database includes a mapping relationship between different light contrasts and event generation rates.

[0013] A third aspect of an embodiment of the present application provides a terminal device, including: a memory and a processor, wherein the processor is used to execute a computer program stored in the memory, and when the processor executes the computer program, it implements each step of the event camera testing method provided in the first aspect of the embodiment of the present application.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, each step of the event camera testing method provided in the first aspect of the embodiment of the present application is implemented.

[0015] As can be seen from the above, according to the event camera testing method, device, equipment and readable storage medium provided by the present application, for a preset reference light illuminance, the event camera is controlled to collect event data respectively under different light contrasts; based on each event data, the event generation rate corresponding to the light contrast is counted; and a test database for each reference light illuminance is established; wherein the test database includes a mapping relationship between different light contrasts and event generation rates. Through the implementation of the present application, the event generation rates under different light contrasts are tested respectively for the reference light illuminance to obtain the light response sensitivity of the event camera under different light conditions, which can provide an effective reference indicator for the use and calibration of the event camera and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a mapping relationship between light illumination and light source driving voltage provided in the first embodiment of the present application;

[0017] Figure 2 A basic flow chart of an event camera testing method provided in the first embodiment of the present application;

[0018] Figure 3 A schematic diagram of a timing control of illumination contrast provided in the first embodiment of the present application;

[0019] Figure 4 A schematic diagram of a mapping relationship between illumination contrast and event generation rate provided in the first embodiment of the present application;

[0020] Figure 5 Another schematic diagram of timing control of illumination contrast provided in the first embodiment of the present application;

[0021] Figure 6 A schematic diagram of a mapping relationship between an input circuit pulse width and an event generation rate provided in the first embodiment of the present application;

[0022] Figure 7 A detailed flowchart of an event camera testing method provided in the second embodiment of the present application;

[0023] Figure 8 A schematic diagram of a program module of an event camera testing device provided in a second embodiment of the present application;

[0024] Fig. 9 A schematic diagram of the structure of a terminal device provided in the third embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0026] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0029] The above description is only a preferred embodiment of the present application and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0030] In order to solve the problem of lack of effective and segmented testing of the illumination response sensitivity index of event cameras in the related art, the first embodiment of the present application provides an event camera testing method, which is applied to an event camera testing system, the system includes a voltage unit, a light source and an event camera, the voltage unit is electrically connected to the light source, wherein the voltage unit is configured to output different light source driving voltages, the light source is configured to output corresponding illuminance (i.e., light intensity) in response to different light source driving voltages, in practical applications, the light source is an LED lamp, and the light beam emitted is a uniform light beam to ensure that the light intensity reaching each pixel of the event camera is consistent, in addition, the event camera is used to collect event data under dynamically changing lighting conditions. In a preferred embodiment, the system also includes an ambient light sensor, which is located on the same COB board as the event camera, and the two can be approximately considered to receive the same light intensity, and the light intensity received by the event camera can be measured according to the ambient light sensor.

[0031] In practical applications, this embodiment can obtain the mapping relationship between the illuminance and the light source driving voltage in advance. For example, the light source driving voltage of the voltage unit is adjusted in sequence to change in a certain step size. For example, the output voltage to the light source can be increased in a step size of 20mV. The light source irradiates the COB board with different light intensities according to different voltages, and different illuminances are measured by the ambient light sensor, thereby obtaining the relationship between the illuminance and the output voltage, such as Figure 1 The figure shows a mapping relationship between light illumination and light source driving voltage provided by this embodiment.

[0032] like Figure 2 This is a basic flow chart of the event camera testing method provided in this embodiment. The event camera testing method includes the following steps:

[0033] Step 201 : for a preset reference light intensity, control the event camera to collect event data under different light contrasts.

[0034] Specifically, in the present embodiment, the target illumination is obtained after applying different illumination contrasts to the reference illumination. After the reference illumination changes to the target illumination, the event camera collects event data in response to the change in scene light intensity. It should be understood that the illumination contrast of the present embodiment can be a proportional value, such as 20%, 30%, 40%, etc., which can be positive or negative. When the value is positive, the ambient light intensity becomes stronger, and when the value is negative, the ambient light intensity becomes weaker.

[0035] In one implementation of the present embodiment, the above-mentioned step of controlling the event camera to collect event data separately under different lighting contrasts for a preset reference light illumination includes: for the preset reference light illumination, monotonically increasing or decreasing the light source driving voltage of the voltage unit according to a preset adjustment ratio; wherein different light source driving voltages are used to drive the light source to output light illuminations corresponding to different lighting contrasts in sequence; and controlling the event camera to collect event data separately under different lighting contrasts in sequence.

[0036] Specifically, in this embodiment, the voltage unit is first controlled to work according to the light source output reference light illuminance and the expected light source driving voltage to obtain the reference light condition, and then the voltage required for the target light illuminance with a certain light contrast ratio with the reference light illuminance can be obtained in sequence according to the mapping relationship between the light illuminance and the light source driving voltage pre-configured above, and then the light source driving voltage of the voltage unit is sequentially adjusted to obtain a dynamically changing light environment, thereby allowing the event camera to collect event data under the test environment. For example, the reference light illuminance of this embodiment can be 5lux, and then the voltage corresponding to the light contrast ratio of 10%, 20%, 30%, 40% and the like with 5lux is obtained, and then the light source driving voltage of the voltage unit is adjusted in sequence at different times according to the obtained voltage.

[0037] Furthermore, in one implementation of the present embodiment, the voltage unit includes a first voltage unit and a second voltage unit that work in time-sharing switching. Accordingly, the step of adjusting the light source driving voltage of the voltage unit monotonically increasing or decreasing according to a preset adjustment ratio for a preset reference light illumination comprises: controlling the first voltage unit to output the first light source driving voltage; wherein the first light source driving voltage is used to drive the light source to output the reference light illumination; for the reference light illumination, each time after controlling the second voltage unit to output the second light source driving voltage according to a preset adjustment ratio on the basis of the first light source driving voltage, switching back to the first voltage unit to output the first light source driving voltage, and then controlling the second voltage power supply to output the adjusted second light source driving voltage again after monotonically increasing or decreasing the adjustment ratio; wherein different second light source driving voltages are used to drive the light source to sequentially output light illuminations corresponding to different light contrasts.

[0038] Specifically, in the voltage adjustment process of the present embodiment, the first voltage unit is used to control the reference light illuminance output by the light source, and the second voltage unit is used to control the target light illuminance output by the light source, and the target light illuminance and the reference light illuminance form an ambient light intensity change. It should be understood that in the process of performing multiple illumination contrast adjustments in the present embodiment, all are performed relative to the reference light illuminance, so that the switching sequence of the voltage units is the first voltage unit, the second voltage unit, the first voltage unit, the second voltage unit, ..., that is, each time the second voltage unit is used to control the light source to perform an ambient light intensity adjustment, it is necessary to switch back to the first voltage unit to restore the reference light illuminance, and then switch to the second voltage unit to continue to perform the ambient light intensity adjustment, so as to achieve a continuous test environment with different illumination contrasts.

[0039] In one implementation of the present embodiment, the step of controlling the event camera to collect event data respectively under different lighting contrasts includes: controlling the event camera to collect first event data at the moment when different lighting contrasts are generated, and collecting second event data at the moment when the lighting contrast is cancelled; the step of counting the event generation rate corresponding to the lighting contrast based on each event data includes: counting the event generation rate corresponding to the lighting contrast based on the first event data and the second event data.

[0040] Specifically, the event polarity of the first event data and the second event data in this embodiment is opposite, and the two event data are UP event data and DN event data, the UP event data includes UP events generated by event pixels, and the DN event data includes DN events generated by event pixels. In this embodiment, considering that the process of generating and canceling the illumination contrast involves two opposite changes in ambient light intensity, if the value of the illumination contrast is positive, then when the illumination contrast is generated, the ambient light intensity becomes stronger, and UP event data can be collected at this time, and when the illumination contrast is canceled, the ambient light intensity becomes weaker, and DN event data can be collected at this time.

[0041] Further, in one implementation of the present embodiment, the above-mentioned step of counting the event generation rate corresponding to the illumination contrast based on the first event data and the second event data includes: counting the event generation rate corresponding to the illumination contrast based on the first event data and the second event data, respectively; wherein the event generation rate includes a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data; and / or, counting the event generation rate corresponding to the illumination contrast in combination with the first event data and the second event data; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

[0042] Specifically, the present embodiment can simultaneously realize the collection of event data with opposite event polarities through a single illumination contrast adjustment process. Thus, the illumination response sensitivity index tests of two event types can be simultaneously realized through a single test process, and the test efficiency is higher. In addition, the present embodiment can also comprehensively test the illumination response sensitivity index of the two event types, so as to perform a more comprehensive test on the event camera with higher accuracy.

[0043] Furthermore, in another implementation of the present embodiment, the step of controlling the event camera to collect the first event data at the moment when different lighting contrasts are generated, and collecting the second event data at the moment when the lighting contrast is cancelled, includes: controlling the event camera to collect the first event data at the moment when different lighting contrasts are generated, and collecting the second event data at the moment when the lighting contrast is cancelled after being maintained for a preset period of time.

[0044] Specifically, in this embodiment, after adjusting the lighting environment to the target lighting intensity according to a certain lighting contrast with respect to the reference lighting intensity, the event camera is controlled to collect the first event data during the light intensity change process, and then after maintaining the target lighting intensity for a certain period of time, the ambient light intensity is restored to the reference lighting intensity, and the event camera is controlled to collect the second event data during the light intensity change process.

[0045] like Figure 3 The figure shows a timing control schematic diagram of the illumination contrast provided by the present embodiment. Assuming that the reference illuminance is 5lux, at time t1, the light source is connected to the first voltage unit, and the first voltage unit is configured to adjust the voltage to control the light source to illuminate the COB board with an illuminance of 5lux, and the event camera collects n frames of event data; at time t2 after a preset time interval from time t1, the system switches to the second voltage unit to work; at time t3, the event camera is controlled to collect 1 frame of event data. Generally, if the voltage output by the second voltage unit is higher than the voltage output by the first voltage unit, this 1 frame of event data is UP event data, and then n / 2-1 frames of event data are continuously collected; at time t4, the light source is switched to the first voltage unit, that is, the light intensity received by the event camera is restored to 5lux illuminance, and n / 2 frames of event data are collected. It is worth noting that the light source completes the switch to the first voltage unit at time t5, and the system can control the event camera to collect 1 frame of event data, and the event polarity of the event data is opposite to the event data at time t3. Similarly, at time t6, the light source switches to the second voltage unit. At this time, the voltage output by the second voltage unit may be inconsistent with the voltage output by the second voltage unit at time t2, because different light contrasts correspond to different output voltages. By testing multiple times according to the above steps, event data corresponding to different light contrasts at a light intensity of 5lux can be obtained.

[0046] Step 202: Count the event generation rate corresponding to the illumination contrast based on each event data.

[0047] Specifically, the overall event data collected by the event camera is a collection of event data of each pixel in the pixel array of the image sensor. The event data of each individual pixel is a binary vector (i.e., a 2-bit vector). The 2-bit vector is used to characterize whether the ambient light intensity is getting stronger or weaker. If the current ambient light intensity is greater than the ambient light intensity at the previous moment, the 2-bit vector is represented as [1, 0], which means that the pixel generates an UP event. If the current ambient light intensity is less than the ambient light intensity at the previous moment, the 2-bit vector is represented as [0, 1], which means that the pixel generates a DN event. In this embodiment, if the value of the illumination contrast is positive, the ambient light intensity becomes stronger, but not all pixels generate an UP event, then the overall event data includes binary vectors corresponding to UP event pixels and pixels without events. In this embodiment, the number of binary vectors used to characterize the generation of events can be counted to obtain the number of event pixels.

[0048] It should be understood that the event generation rate of this embodiment represents the percentage of the number of event pixels to the total number of pixels in the pixel array area of ​​interest. The pixel array area of ​​interest may be the entire pixel array of the image sensor of the event camera or a partial pixel array area of ​​the entire pixel array. This embodiment does not make a sole limitation on this.

[0049] Step 203: Establish a test database for each reference light intensity; wherein the test database includes a mapping relationship between different light contrasts and event generation rates.

[0050] Specifically, in this embodiment, by repeatedly measuring the percentage of pixels generating events corresponding to different illumination contrasts in the pixel area of ​​interest under a certain reference illumination, the corresponding relationship between different illumination contrasts and event generation rates under the reference illumination is obtained. Figure 4 The figure shows a schematic diagram of a mapping relationship between illumination contrast and event generation rate provided in the present embodiment, wherein the figure shows the mapping relationship between different illumination contrasts and event generation rates under a reference illumination of 5 lux and a reference illumination of 100 lux respectively.

[0051] In one implementation of the present embodiment, after the above-mentioned step of establishing a test database for each reference light illuminance, it also includes: obtaining the light response sensitivity index required corresponding to the current application scenario; wherein the light response sensitivity index is associated with the target event generation rate; calling the test database corresponding to all reference light illuminances, and calibrating the target reference light illuminance and target light contrast corresponding to the light response sensitivity index.

[0052] Specifically, based on the test database of this embodiment, the percentage of pixels that generate events under different light contrasts corresponding to each reference light illuminance in the area of ​​interest pixels can be known, so that in actual applications, the test database can be queried according to the target event generation rate corresponding to the expected light response sensitivity index, and it can be known what combination of reference light illuminance and light contrast can meet the light response sensitivity requirements of the actual application scenario, and the event camera can be calibrated accordingly. Assume that the ratio of pixels that generate events to the area of ​​interest pixels is defined to be at least 60% to meet the requirements, that is, for a reference light illuminance of 5lux, the light contrast must be at least 67% to meet the requirements, and for a reference light illuminance of 100lux, the light contrast must be at least 14% to meet the requirements.

[0053] In some implementations of this embodiment, the step of controlling the event camera to collect event data respectively under different illumination contrasts includes: controlling the event camera to collect event data respectively under each illumination contrast using different input circuit pulse widths. Correspondingly, the step of establishing a test database for each reference illumination includes: establishing a test database for different illumination contrasts under each reference illumination; wherein the test database includes a mapping relationship between different input circuit pulse widths and event generation rates.

[0054] Specifically, pulse width is the abbreviation of pulse width, that is, the duration of the high level. In this embodiment, the input circuit pulse width of the event camera determines the overall response time of the event camera from sensing the light intensity change to generating event data. In practical applications, a pulse width that is too long will increase the power consumption of the light source, and a pulse width that is too short may cause the event camera to fail to capture the light intensity change. Therefore, this embodiment proposes a test method to adjust the pulse width when the light intensity is determined, and to calculate the event generation rate according to different pulse widths to obtain different relationships between pulse width and event generation rate.

[0055] like Figure 5The figure shows another timing control schematic diagram of illumination contrast provided by the present embodiment. Assuming that the reference light intensity is 5lux and the illumination contrast is 50%, at time t1, the light source is connected to the first voltage unit, and the first voltage unit is configured to adjust the voltage to illuminate the COB board with an illumination of 5lux, and control the event camera to collect n frames of event data; at time t2, the light source switches to the second voltage unit, and controls the signal input time t (i.e., pulse width); at time t3, the event camera is controlled to collect 1 frame of event data; then the light source switches back to the first voltage unit, and controls the event camera to collect n-1 frames of event data; next, the light source is switched back to the second voltage unit, and controls the event camera to collect 1 frame of event data, and so on. The collection is repeated in multiple cycles, and the percentage of the number of event pixels corresponding to the generated events within the pulse width t is counted as the percentage of the pixel area of ​​interest. Similarly, the pulse width time is adjusted, and the above steps are repeated to count the percentage of the number of event pixels generating events at different pulse widths under the illumination in the pixel area of ​​interest. Figure 6 The figure shows a mapping relationship between an input circuit pulse width and an event generation rate provided by the present embodiment. Assuming the reference illuminance is 5lux, the figure shows the event generation rates corresponding to different output circuit pulse widths when the illumination contrast is 10% and 20% respectively.

[0056] It should be noted that since there is a delay in the signal input and the light source switching between the first voltage unit and the second voltage unit, resulting in the signal input and the triggering of the EVS time being out of sync, the signal input should be advanced by a period of time t4 to generate a pulse signal, where t4 = t3-t2. It should also be understood that the pulse width of the input circuit of this embodiment does not exceed the frame cycle time of one frame of EVS.

[0057] Furthermore, in one implementation of the present embodiment, after the above-mentioned step of establishing a test database for different lighting contrasts under each reference light illumination, it also includes: comparing the event generation rates corresponding to different input circuit pulse widths under each lighting contrast with the preset generation rate threshold range respectively; configuring the standard input circuit pulse width under each lighting contrast based on the target input circuit pulse width whose event generation rate is within the preset generation rate threshold range.

[0058] Specifically, this embodiment compares the generation rate of each event with a reasonable generation rate threshold range to obtain a reasonable input circuit pulse width under each lighting contrast, and calibrates the event camera based on the reasonable input circuit pulse width. On the one hand, it can avoid high power consumption caused by too long pulse width, and on the other hand, it can avoid the event camera being unable to effectively collect data due to too short pulse width.

[0059] Based on the technical solution of the embodiment of the present application, for a preset reference light intensity, the event camera is controlled to collect event data under different light contrasts; based on each event data, the event generation rate corresponding to the light contrast is counted; and a test database for each reference light intensity is established; wherein the test database includes a mapping relationship between different light contrasts and event generation rates. Through the implementation of the solution of the present application, the event generation rates under different light contrasts are tested for the reference light intensity to obtain the light response sensitivity of the event camera under different light conditions, which can provide an effective reference indicator for the use and calibration of the event camera and improve the user experience.

[0060] Figure 7 The method in is a refined event camera testing method provided in the second embodiment of the present application, and the event camera testing method includes:

[0061] Step 701: Control a first voltage unit to output a first light source driving voltage to drive the light source to output a reference light intensity.

[0062] Step 702, for the reference light illumination, each time after controlling the second voltage unit to output the second light source driving voltage according to a preset adjustment ratio on the basis of the first light source driving voltage, switch back to the first voltage unit to output the first light source driving voltage, and then control the second voltage power supply to output the adjusted second light source driving voltage again after monotonically increasing or decreasing the adjustment ratio, so as to drive the light source through the second light source driving voltage to sequentially output light illuminations corresponding to different light contrasts.

[0063] Specifically, the first voltage unit and the second voltage unit of the present embodiment work in a time-sharing switching manner. For example, the first voltage unit is first used to control the light source to output a reference light illumination. Then, the second voltage unit is switched to control the light source to output a corresponding light illumination according to a light contrast of 10%. The event camera collects event data under the change of ambient light intensity, and then switches back to the first voltage unit to restore the reference light illumination. Next, the second voltage unit is switched to control the light source to output a corresponding light illumination according to a light contrast of 20%. The two voltage units are continuously switched to work in this way to achieve an event data collection environment under different light contrasts.

[0064] Step 703: Control the event camera to collect first event data at the time when different illumination contrasts are generated, and collect second event data at the time when the illumination contrast is cancelled.

[0065] Among them, the event polarities of the first event data and the second event data are opposite, that is, UP event data and DN event data, respectively correspond to opposite ambient light intensity change behaviors, the moment when the illumination contrast is generated corresponds to the moment when the first voltage power supply switches to the second voltage unit to work, and the moment when the illumination contrast is cancelled corresponds to the moment when the second voltage power supply switches back to the first voltage unit to work.

[0066] Step 704: Count corresponding event generation rates based on the first event data and the second event data of each lighting contrast.

[0067] Specifically, the event generation rate represents the percentage of the number of event pixels to the total number of pixels in the pixel array region of interest. The pixel array region of interest may be the entire pixel array of the image sensor of the event camera or a partial pixel array region of the entire pixel array.

[0068] Step 705: Establish a test database for each reference light intensity; wherein the test database includes a mapping relationship between different light contrasts and event generation rates.

[0069] Specifically, based on the test database of this embodiment, it is possible to know the percentage of pixels generating events under different illumination contrasts corresponding to each reference illumination intensity in the pixel area of ​​interest.

[0070] Step 706: Obtain the illumination response sensitivity index required for the current application scenario.

[0071] Step 707: call the test database corresponding to all reference light illuminances, and calibrate the target reference light illuminance and target light contrast corresponding to the light response sensitivity index.

[0072] Specifically, the illumination response sensitivity index is associated with the target event generation rate. In this embodiment, by querying the test database according to the target event generation rate corresponding to the illumination response sensitivity index, it is possible to obtain what combination of reference illuminance and illumination contrast can meet the illumination response sensitivity requirements of the actual application scenario, thereby calibrating the event camera to meet actual usage requirements.

[0073] It should be understood that the size of the serial number of each step in this embodiment does not mean the order of execution of the steps. The execution order of each step should be determined by its function and internal logic, and should not constitute a sole limitation on the implementation process of the embodiment of this application.

[0074] Figure 8 The third embodiment of the present application provides an event camera testing device. The event camera testing device can be used to implement the event camera testing method in the above-mentioned embodiment. Figure 8 As shown, the event camera test device mainly includes:

[0075] The control module 801 is used to control the event camera to collect event data under different illumination contrasts according to a preset reference illumination;

[0076] A statistics module 802, for counting event generation rates corresponding to illumination contrasts based on event data;

[0077] The establishing module 803 is used to establish a test database for each reference light intensity; wherein the test database includes a mapping relationship between different light contrasts and event generation rates.

[0078] In some implementations of this embodiment, the control module is specifically used to: control the event camera to collect first event data at the time of generating different light contrasts, and collect second event data at the time of canceling the light contrast; wherein the event polarity of the first event data is opposite to that of the second event data. Accordingly, the statistical module is specifically used to: count the event generation rate corresponding to the light contrast based on the first event data and the second event data.

[0079] Further, in some implementations of the present embodiment, the statistical module is specifically used to: respectively count the event generation rate corresponding to the illumination contrast based on the first event data and the second event data; wherein the event generation rate includes a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data; and / or, count the event generation rate corresponding to the illumination contrast in combination with the first event data and the second event data; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

[0080] Furthermore, in some other implementations of this embodiment, the control module is specifically used to: control the event camera to collect first event data at the time when different lighting contrasts are generated, and to collect second event data at the time when the lighting contrast is cancelled after being maintained for a preset period of time.

[0081] In some other implementations of this embodiment, the control module is specifically used to: for a preset reference light illumination, monotonically increase or decrease the light source driving voltage of the voltage unit according to a preset adjustment ratio; wherein different light source driving voltages are used to drive the light source to sequentially output light illuminations corresponding to different light contrasts; and control the event camera to sequentially collect event data under different light contrasts.

[0082] Furthermore, in some implementations of the present embodiment, the voltage unit includes a first voltage unit and a second voltage unit that work in time-sharing switching. Accordingly, when the control module performs the above-mentioned function of adjusting the light source driving voltage of the voltage unit monotonically increasing or decreasing according to a preset adjustment ratio for the preset reference light illumination, it is specifically used to: control the first voltage unit to output the first light source driving voltage; wherein the first light source driving voltage is used to drive the light source to output the reference light illumination; for the reference light illumination, each time after the second voltage unit is controlled to output the second light source driving voltage according to a preset adjustment ratio on the basis of the first light source driving voltage, switch back to the first voltage unit to output the first light source driving voltage, and then control the second voltage power supply to output the adjusted second light source driving voltage again after monotonically increasing or decreasing the adjustment ratio; wherein different second light source driving voltages are used to drive the light source to sequentially output light illuminations corresponding to different light contrasts.

[0083] In some implementations of the present embodiment, the event camera testing device also includes: an acquisition module and a calibration module, the acquisition module is used to: acquire the illumination response sensitivity index required corresponding to the current application scenario, wherein the illumination response sensitivity index is associated with the target event generation rate; the calibration module is used to: call the test database corresponding to all reference light illuminances, and calibrate the target reference light illuminance and target light contrast corresponding to the light response sensitivity index.

[0084] In some other implementations of this embodiment, the control module is specifically used to control the event camera to collect event data using different input circuit pulse widths at different illumination contrasts. Correspondingly, the establishment module is specifically used to establish a test database of different illumination contrasts at each reference illumination; wherein the test database includes a mapping relationship between different input circuit pulse widths and event generation rates.

[0085] Furthermore, in some implementations of the present embodiment, the event camera testing device also includes: a comparison module and a configuration module, the comparison module is used to: compare the event generation rates corresponding to different input circuit pulse widths under each lighting contrast with the preset generation rate threshold range respectively; the configuration module is used to: configure the standard input circuit pulse width under lighting contrast based on the target input circuit pulse width whose event generation rate is within the preset generation rate threshold range.

[0086] It should be noted that the event camera testing method in the first embodiment can be implemented based on the event camera testing device provided in this embodiment. Ordinary technical personnel in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working process of the event camera testing device described in this embodiment can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0087] According to the event camera test device provided in this embodiment, for a preset reference light illuminance, the event camera is controlled to collect event data under different light contrasts; based on each event data, the event generation rate corresponding to the light contrast is counted; and a test database for each reference light illuminance is established; wherein the test database includes a mapping relationship between different light contrasts and event generation rates. Through the implementation of the scheme of this application, the event generation rates under different light contrasts are tested for the reference light illuminance to obtain the light response sensitivity of the event camera under different light conditions, which can provide an effective reference indicator for the use and calibration of the event camera and improve the user experience.

[0088] Fig. 9 A terminal device is provided in the fourth embodiment of the present application. The terminal device can be used to implement the event camera test method in the above embodiment, mainly including:

[0089] The memory 901, the processor 902, and the computer program 903 stored in the memory 901 and executable on the processor 902, the memory 901 and the processor 902 are connected by communication. When the processor 902 executes the computer program 903, the method in the above-mentioned embodiment 1 or 2 is implemented. The number of processors can be one or more.

[0090] The memory 901 may be a high-speed random access memory (RAM) memory, or a non-volatile memory, such as a disk memory. The memory 901 is used to store executable program codes, and the processor 902 is coupled to the memory 901 .

[0091] Furthermore, the embodiment of the present application also provides a computer-readable storage medium, which may be provided in the terminal device in the above embodiment. The computer-readable storage medium may be the above Fig. 9 Memory in the illustrated embodiment.

[0092] The computer readable storage medium stores a computer program, and when the program is executed by the processor, the event camera test method in the aforementioned embodiment is implemented. Furthermore, the computer storable medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and other media that can store program codes.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0094] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0096] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a readable storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned readable storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0097] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0098] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0099] The above is a description of the event camera testing method, device, equipment and readable storage medium provided in the present application. For technicians in this field, according to the ideas of the embodiments of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An event camera testing method, characterized in that: include: According to the preset reference light intensity, the event camera is controlled to collect event data under different light contrasts; Counting the event generation rate corresponding to the illumination contrast based on each of the event data; wherein the event generation rate represents the percentage of the number of event pixels to the total number of pixels in the pixel array area of ​​interest of the event camera, and the event pixel is a pixel where an event is generated; Establishing a test database of each reference light intensity to obtain the light response sensitivity of the event camera under different light conditions; wherein the test database includes a mapping relationship between different light contrasts and event generation rates; Obtaining the illumination response sensitivity index required for the current application scenario; wherein the illumination response sensitivity index is associated with the target event generation rate; Calling the test database corresponding to all the reference light illuminances, and calibrating the target reference light illuminance and the target light contrast corresponding to the light response sensitivity index; The step of controlling the event camera to respectively collect event data under different illumination contrasts comprises: Controlling the event camera to collect first event data at the time when different illumination contrasts are generated, and to collect second event data at the time when the illumination contrasts are cancelled; wherein the event polarities of the first event data and the second event data are opposite; The step of counting the event generation rate corresponding to the illumination contrast based on each of the event data comprises: The event generation rate corresponding to the illumination contrast is counted based on the first event data and the second event data.

2. The event camera testing method according to claim 1, characterized in that: The step of counting the event generation rate corresponding to the illumination contrast based on the first event data and the second event data comprises: Counting the event generation rate corresponding to the illumination contrast based on the first event data and the second event data respectively; wherein the event generation rate includes a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data; And / or, combining the first event data and the second event data to count the event generation rate corresponding to the illumination contrast; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

3. The event camera testing method according to claim 1, characterized in that: The step of controlling the event camera to collect first event data at the time of generating different illumination contrasts, and collecting second event data at the time of canceling the illumination contrasts, comprises: The event camera is controlled to collect first event data at a time when different illumination contrasts are generated, and to collect second event data at a time when the illumination contrast is cancelled after the illumination contrast is maintained for a preset time period.

4. The event camera testing method according to claim 1, characterized in that: The step of controlling the event camera to collect event data respectively under different illumination contrasts according to the preset reference illumination comprises: For a preset reference light intensity, the light source driving voltage of the voltage unit is adjusted monotonically increasing or decreasing according to a preset adjustment ratio; wherein different light source driving voltages are used to drive the light source to sequentially output light intensities corresponding to different light contrasts; The event camera is controlled to collect event data respectively under different light contrasts.

5. The event camera testing method according to claim 4, characterized in that: The voltage unit includes a first voltage unit and a second voltage unit that work in time-sharing switching; The step of adjusting the light source driving voltage of the voltage unit monotonically increasing or decreasing according to a preset adjustment ratio for the preset reference light illumination comprises: Controlling the first voltage unit to output a first light source driving voltage; wherein the first light source driving voltage is used to drive the light source to output a reference light illumination; For the reference light illuminance, each time after the second voltage unit is controlled to output the second light source driving voltage according to a preset adjustment ratio based on the first light source driving voltage, the first voltage unit is switched back to output the first light source driving voltage, and then the adjustment ratio is monotonically increased or decreased and then the second voltage unit is controlled again to output the adjusted second light source driving voltage; wherein different second light source driving voltages are used to drive the light source to output illuminances corresponding to different light contrasts in sequence.

6. The event camera testing method according to claim 1, characterized in that: The step of controlling the event camera to respectively collect event data under different illumination contrasts comprises: Controlling the event camera to respectively collect event data using different input circuit pulse widths under various illumination contrasts; The step of establishing a test database of each reference light intensity comprises: A test database of different illumination contrasts under various reference illumination intensities is established; wherein the test database includes a mapping relationship between different input circuit pulse widths and event generation rates.

7. The event camera testing method according to claim 6, characterized in that: After the step of establishing a test database with different illumination contrasts under each reference illumination, the method further includes: Compare the event generation rates corresponding to the different input circuit pulse widths under the illumination contrast with the preset generation rate threshold ranges respectively; Based on the target input circuit pulse width whose event generation rate is within the preset generation rate threshold range, the standard input circuit pulse width under the illumination contrast is configured.

8. An event camera testing device, characterized in that: include: A control module, for controlling the event camera to collect first event data at a time when different light contrasts are generated, and to collect second event data at a time when the light contrasts are cancelled, with respect to a preset reference light intensity; wherein the first event data and the second event data have opposite event polarities; A statistical module, configured to calculate the event generation rate corresponding to the illumination contrast based on the first event data and the second event data; wherein the event generation rate represents the percentage of the number of event pixels to the total number of pixels in the pixel array area of ​​interest of the event camera, and the event pixel is a pixel where an event is generated; An establishment module is used to establish a test database of each reference light intensity to obtain the light response sensitivity of the event camera under different light conditions; wherein the test database includes a mapping relationship between different light contrasts and event generation rates; An acquisition module, used to acquire the illumination response sensitivity index required for the current application scenario; wherein the illumination response sensitivity index is associated with the target event generation rate; The calibration module is used to call the test database corresponding to all the reference light illuminances, and calibrate the target reference light illuminance and target light contrast corresponding to the light response sensitivity index.

9. A terminal device, characterized in that: The device comprises a memory and a processor, wherein: The processor is used to execute the computer program stored in the memory; When the processor executes the computer program, the steps in the method according to any one of claims 1 to 7 are implemented.

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 in the method according to any one of claims 1 to 7 are implemented.

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