Method, system and device for improving image brightness consistency of structured light module and storage medium

Abstract

A method, system and device for improving image brightness consistency of a structured light module, and a storage medium, the method comprising: step S1, arranging a gray card at a first distance in front of the structured light module, and enabling the structured light module to collect a first image of the gray card at a current X; s2, calculating the brightness Y1 of a first center frame on the first image to obtain a brightness coefficient beta = Y1 / Y and a current amplification coefficient alpha = 1 / beta; s3, loading the current amplification coefficient into the structured light module, arranging the gray card at a second distance in front of the structured light module, and enabling the structured light module to collect a second image of the gray card at a current X * alpha; s4, calculating the brightness Y2 of a second center frame on the second image to obtain a brightness coefficient beta '= Y2 / Y', and S5, storing a current amplification coefficient alpha '= 1 / beta' in the structured light module if beta 'is within a preset range, and otherwise, executing the step S3.

Description

Technical Field

[0001] The present invention relates to the technical field of structured light camera calibration, and specifically, to a method, a system, a device, and a storage medium for improving the image brightness consistency of a structured light module. Background Art

[0002] During the production process of an infrared camera module with self-supplementary light, due to the within-specification errors of various components, there will be a problem that even when the same parameters are used, the image brightness between modules will be inconsistent.

[0003] When producing an infrared camera module with self-supplementary light, each component, including the image sensor, infrared LED, driving IC, etc., will have certain within-specification errors. These errors may stem from multiple aspects such as production processes, material selection, and measurement accuracy.

[0004] First of all, as the core component of the module, the performance parameters of the image sensor, such as sensitivity, dark current, noise, etc., will have a certain fluctuation range. These fluctuations may cause the sensor to respond differently to light under different lighting conditions, thus affecting the overall brightness of the image.

[0005] Secondly, there will also be certain errors in the luminous intensity and spectral characteristics of the infrared LED. Although the LED has undergone strict screening and testing before leaving the factory, in actual applications, due to the influence of factors such as the working environment, temperature, and aging, the luminous performance of the LED may change. This change will directly affect the intensity and effect of the module's supplementary light, and thus affect the image brightness.

[0006] In addition, as an important component for controlling the operation of the module, the fluctuation of the performance parameters of the driving IC may also affect the image brightness. For example, the current control ability and output voltage stability of the driving IC will affect the luminous state of the LED, thereby affecting the image brightness.

[0007] When the errors of these components are superimposed in the module, it will result in a large difference in the image brightness between modules even when the same parameters are used. This difference may be manifested as the overall image being too dark or too bright, or there being obvious brightness unevenness in certain areas.

[0008] The disclosure of the above background art content is only used to assist in understanding the inventive concept and technical solution of the present invention, and it does not necessarily belong to the prior art of this patent application. Without clear evidence indicating that the above content was publicly available on the filing date of this patent application, the above background art should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0009] To this end, according to the differences of different structured light modules, the present invention measures the brightness of the center point of the test image with a gray card and iteratively adjusts the current to quickly make the image brightness of different structured light modules consistent, which is beneficial to the consistency of the performance of products of the same model.

[0010] In a first aspect, the present invention provides a method for improving the image brightness consistency of a structured light module, which is characterized by including:

[0011] Step S1: Set a gray card at a first distance in front of the structured light module, and make the structured light module collect a first image of the gray card with a current X.

[0012] Step S2: Calculate the brightness Y1 of a first central frame on the first image to obtain a brightness coefficient β = Y1 / Y, and a current amplification coefficient α = 1 / β; where Y is the brightness of the first central frame on the image taken by the standard module at the first distance.

[0013] Step S3: Load the current amplification coefficient into the structured light module, set the gray card at a second distance in front of the structured light module, and make the structured light module collect a second image of the gray card with a current X*α.

[0014] Step S4: Calculate the brightness Y2 of a second central frame on the second image to obtain a brightness coefficient β' = Y2 / Y'; where Y' is the brightness of the second central frame on the image taken by the standard module at the second distance; the first central frame and the second central frame have the same number of light spots.

[0015] Step S5: If β' is within a preset range, save the current amplification coefficient α' = 1 / β' into the structured light module; otherwise, execute Step S3.

[0016] Optionally, in the method for improving the image brightness consistency of a structured light module, the first central frame is a rectangular frame centered on the center of the first image; the second central frame is a rectangular frame centered on the center of the second image.

[0017] Optionally, in the method for improving the image brightness consistency of a structured light module, the shortest side length of the rectangular frame is not less than 1 / 10 of the side length of the image.

[0018] Optionally, in the method for improving the image brightness consistency of a structured light module, the structured light module includes a structured light projector and a receiver;

[0019] The structured light projector is used to project infrared structured light;

[0020] The receiver is used to receive the reflection signal of the infrared structured light and perform exposure.

[0021] Optionally, the method for improving the image brightness consistency of the structured light module further includes: a floodlight for filling light for the structured light projector.

[0022] Optionally, in the method for improving the image brightness consistency of the structured light module, when the structured light module can project both structured light and floodlight, first set the gray card at the first distance to project structured light and floodlight respectively, and then set the gray card at the second distance to project structured light and floodlight respectively, and design the current amplification factor of the structured light and the current amplification factor of the floodlight respectively, so that the structured light and the floodlight obtain consistent image brightness.

[0023] Optionally, in the method for improving the image brightness consistency of the structured light module, calculating the brightness Y1 of the first central frame includes:

[0024] Step S21: Extract the pixels of the first central frame on the first image and perform binarization;

[0025] Step S22: Obtain the light spot area through threshold comparison;

[0026] Step S23: Calculate the brightness average value of the light spot area on the first image as the brightness Y1 of the first central frame.

[0027] In a second aspect, the present invention provides a system for improving the image brightness consistency of a structured light module, which is used to implement the method for improving the image brightness consistency of the structured light module described in any one of the above, and includes:

[0028] A first setting module for setting a gray card at a first distance in front of the structured light module and enabling the structured light module to collect a first image of the gray card with a current X;

[0029] A first calculation module for calculating the brightness Y1 of the first central frame on the first image, obtaining a brightness coefficient β = Y1 / Y, and a current amplification factor α = 1 / β; where Y is the brightness of the first central frame on the image taken by the standard module at the first distance;

[0030] A second setting module for loading the current amplification factor into the structured light module, setting the gray card at a second distance in front of the structured light module, and enabling the structured light module to collect a second image of the gray card with a current X*α;

[0031] A second calculation module, configured to calculate the brightness Y2 of a second central frame on the second image, and obtain a brightness coefficient β’ = Y2 / Y’; where Y’ is the brightness of the second central frame on an image captured by a standard module at a second distance; the same number of light spots is included in the first central frame and the second central frame;

[0032] A judgment module, configured to, if β’ is within a preset range, save a current amplification coefficient α’ = 1 / β’ to the structured light module; otherwise, execute a second setting module.

[0033] In a third aspect, the present invention provides a device for improving the image brightness consistency of a structured light module, characterized by comprising:

[0034] A processor;

[0035] A memory, in which executable instructions of the processor are stored;

[0036] Wherein, the processor is configured to execute the steps of the method for improving the image brightness consistency of the structured light module described in any one of the above by executing the executable instructions.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium for storing a program, characterized in that when the program is executed, the steps of the method for improving the image brightness consistency of the structured light module described in any one of the above are implemented.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In view of the differences in structured light modules, the present invention uses a gray card for calibration at different positions, adjusts the brightness of the structured light module according to the brightness of the center point, iteratively updates the current amplification coefficient by changing the distance of the gray card, so that different modules can converge to the same image brightness level, ensuring the product consistency of structured light modules of the same model. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes, and advantages of the present invention will become more obvious:

[0041] Figure 1 It is a flowchart of the steps of a method for improving the image brightness consistency of a structured light module in an embodiment of the present invention;

[0042] Figure 2 It is a schematic structural diagram of a structured light module in an embodiment of the present invention;

[0043] Figure 3 It is a flowchart of steps for calculating the brightness Y1 of the first central frame in an embodiment of the present invention;

[0044] Figure 4 It is a schematic structural diagram of a system for improving the image brightness consistency of a structured light module in an embodiment of the present invention;

[0045] Figure 5 It is a schematic structural diagram of a device for improving the image brightness consistency of a structured light module in an embodiment of the present invention; and

[0046] Figure 6 It is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present invention. Detailed implementation manners

[0047] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all fall within the protection scope of the present invention.

[0048] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. 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 does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0049] A method for improving the image brightness consistency of a structured light module provided by an embodiment of the present invention aims to solve the problems existing in the prior art.

[0050] The technical solutions of the present invention and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and for the same or similar concepts or processes, they may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the drawings.

[0051] According to the differences of different structured light modules, the present invention measures the brightness of the center point of the test image with a gray card and iteratively adjusts the current, so as to quickly make the image brightness of different structured light modules consistent, which is beneficial to the consistency of the performance of products of the same model.

[0052] Since the image brightness and the infrared current value are linearly related under the same exposure gain for each structured light module, the present invention can perform fast and accurate adjustment while keeping the parameters of the receiving end unchanged.

[0053] Figure 1 It is a flowchart of the steps of a method for improving the consistency of the image brightness of a structured light module in an embodiment of the present invention. As Figure 1 shown, a method for improving the consistency of the image brightness of a structured light module in an embodiment of the present invention includes:

[0054] Step S1: Set a gray card at a first distance in front of the structured light module, and make the structured light module collect a first image of the gray card with a current X.

[0055] In this step, the gray card is a card with a specific reflectivity, which is used to calibrate and measure the brightness of the image. In this step, the gray card is used as a standard brightness reference. The structured light module is a device that generates a depth map by projecting a specific pattern and capturing the reflected light. The current X is the current value that drives the structured light module to work, and it will affect the intensity and brightness of the light emitted by the module. Place the gray card at the first distance in front of the structured light module (this distance is preset to ensure the accuracy of the measurement), then adjust the current of the structured light module to the value of X, and collect the first image of the gray card.

[0056] Step S2: Calculate the brightness Y1 of the first central frame on the first image, obtain the brightness coefficient β = Y1 / Y, and the current amplification coefficient α = 1 / β.

[0057] In this step, Y is the brightness of the first central box on the image captured by the standard module at the first distance. On the first image, a central area is selected as the first central box, and this area should contain the central area of the gray card for accurate brightness measurement. Measure the average brightness value Y1 within the first central box and compare it with the brightness value Y of the first central box on the image captured by the standard module at the first distance. Calculate the brightness coefficient β = Y1 / Y. This coefficient reflects the brightness difference between the current structured light module and the standard module under the same conditions. According to the brightness coefficient β, calculate the current amplification coefficient α = 1 / β. This coefficient will be used to adjust the current of the structured light module so that the brightness of the light emitted by it is closer to that of the standard module. Due to the angle problem, the reflectivity of the central area of the image is the most accurate, while the accuracy of the reflectivity of other points is not that high. Therefore, using the central area of the image as the standard has better accuracy compared to using the entire image for adjustment.

[0058] Step S3: Load the current amplification coefficient into the structured light module, place the gray card at the second distance in front of the structured light module, and enable the structured light module to capture the second image of the gray card with a current of X*α.

[0059] In this step, load the calculated current amplification coefficient α into the structured light module to adjust its working current. Move the gray card to the second distance in front of the structured light module (this distance is different from the first distance to test the brightness consistency of the module at different distances). Drive the structured light module with the adjusted current X*α and capture the second image of the gray card.

[0060] Step S4: Calculate the brightness Y2 of the second central box on the second image to obtain the brightness coefficient β' = Y2 / Y'.

[0061] In this step, Y' is the brightness of the second central box on the image captured by the standard module at the second distance; the first central box and the second central box have the same number of light spots. On the second image, select a central area with the same number of light spots as the first central box as the second central box. Measure the average brightness value Y2 within the second central box and compare it with the brightness value Y' of the second central box on the image captured by the standard module at the second distance. Calculate the brightness coefficient β' = Y2 / Y'. This coefficient reflects the brightness difference between the structured light module and the standard module at the current distance.

[0062] Step S5: If β' is within the preset range, save the current amplification coefficient α' = 1 / β' into the structured light module; otherwise, execute step S3.

[0063] In this step, the preset range is the acceptable range of the brightness coefficient β’ set according to actual application requirements. If β’ is within the preset range, it indicates that the brightness of the structured light module after adjustment is similar to that of the standard module at the second distance. At this time, the new current amplification factor α’ = 1 / β’ is saved into the structured light module for subsequent use. If β’ is not within the preset range, it means that the adjusted brightness still does not meet the requirements. At this time, it is necessary to return to step S3, readjust the current amplification factor, and conduct the test again until β’ meets the requirements.

[0064] In some embodiments, the first central frame is a rectangular frame centered on the center of the first image; the second central frame is a rectangular frame centered on the center of the second image. The first central frame is a rectangular frame centered on the center of the first image, used to select a specific area from the first image to measure the average brightness value within this area. The size of the rectangular frame can be adjusted according to needs, but it should generally be large enough to contain enough pixels for accurate brightness measurement, and small enough to avoid including too many edge or background areas that may introduce unnecessary brightness variations. Similar to the first central frame, the second central frame is also a rectangular frame centered on the center of the second image. The setting of the second central frame is the same as that of the first central frame, and it is also used to select a specific area from the second image for brightness measurement. Since it is the central area of the image taken at different distances, it can be used to compare the brightness consistency of the structured light module at different distances. Since the structured light beam is a laser with high emission consistency and a small divergence angle, the sizes of the first central frame and the second central frame are basically the same. However, due to the different spot sizes in the first image and the second image, there is a certain difference in the sizes of the first central frame and the second central frame. The difference in the sizes of the first central frame and the second central frame is related to the ratio of the first distance to the second distance. This embodiment can more accurately measure and compare the brightness of the images taken by the structured light module under different conditions, so as to adjust its working parameters to improve brightness consistency. This method is particularly applicable to application scenarios that require high precision and high brightness consistency, such as 3D scanning, object recognition, etc.

[0065] In some embodiments, the shortest side length of the rectangular frame is not less than 1 / 10 of the side length of the image. The shortest side length of the rectangular frame (whether it is the width or the height) should not be less than 1 / 10 of the corresponding side length of the entire image. The dimension requirement of this embodiment is to prevent the rectangular frame from being too small, resulting in insufficient pixel quantity and thus unable to accurately reflect the brightness of the image. A smaller area is more likely to be affected by factors such as noise, image distortion, or uneven illumination, leading to inaccurate brightness measurement. In practical applications, this dimension requirement can be adjusted according to specific circumstances. For example, if the resolution of the image is very high, even if the size of the rectangular frame is relatively small, it may still contain enough pixels for accurate brightness measurement. However, in most cases, following this dimension requirement can help us select a central area that is neither too large nor too small, thus ensuring the accuracy and reliability of brightness measurement.

[0066] Figure 2 is a schematic structural diagram of a structured light module in an embodiment of the present invention. As Figure 2 shown, a structured light module in an embodiment of the present invention includes a structured light projector and a receiver;

[0067] The structured light projector is used to project infrared structured light.

[0068] Specifically, the structured light projector is a key component in the structured light module, and it is responsible for projecting infrared structured light onto the object to be measured. Infrared structured light is usually a kind of light with a specific pattern or pattern, such as grating stripes, dot matrices, etc. After these lights are reflected by the object surface, specific deformations or displacements will be formed, thus carrying the three-dimensional shape information of the object.

[0069] The receiver is used to receive the reflection signal of the infrared structured light and perform an exposure.

[0070] Specifically, the receiver is another important component of the structured light module, and it is responsible for receiving the infrared structured light signal projected by the structured light projector and reflected by the object surface. The receiver usually uses a high-sensitivity photoelectric sensor or camera, which can capture the intensity and distribution information of the reflected light. When the receiver receives the reflection signal, it will perform an exposure operation, that is, convert the light signal into an electrical signal using the photoelectric effect. These electrical signals are then processed and analyzed to extract the three-dimensional shape information of the object.

[0071] The working principle of the structured light module can be summarized as the following steps:

[0072] The structured light projector projects infrared structured light onto the object to be measured.

[0073] After the infrared structured light is reflected by the object surface, specific deformations or displacements are formed.

[0074] The receiver captures the reflected infrared structured light signal and performs an exposure operation.

[0075] The receiver converts the captured optical signal into an electrical signal and processes and analyzes it.

[0076] According to the processing result, the three-dimensional shape information of the object is extracted.

[0077] In some embodiments, the structured light module further includes: a floodlight for filling light for the structured light projector. Adding a floodlight to the structured light module is a design that enhances its functionality and applicability. The main role of the floodlight is to provide supplementary illumination for the structured light projector to ensure that the structured light module can still work properly and obtain accurate three-dimensional information in case of insufficient light or complex ambient light conditions. The spectrum of the floodlight should match the infrared light of the structured light projector to ensure that they can work together and produce the best measurement effect.

[0078] In some embodiments, when the structured light module can project both structured light and floodlight, first set the gray card at the first distance to project structured light and floodlight respectively, then set the gray card at the second distance to project structured light and floodlight respectively, and design the current amplification factor of the structured light and the current amplification factor of the floodlight respectively to make the structured light and the floodlight obtain consistent image brightness. In the situation where the structured light module can project both structured light and floodlight, in order to ensure that the structured light and the floodlight can obtain consistent image brightness at different distances, it is necessary to accurately design their current amplification factors. Place the gray card at the first distance and the second distance respectively. The gray card is a card with a uniform reflectivity, which is used to calibrate and measure the brightness of the image. At each distance, project structured light and floodlight respectively. In the structured light module, the current amplification factor is used to affect the brightness of the light source. The specific steps include:

[0079] Test at the first distance:

[0080] Place the gray card at the first distance.

[0081] Project structured light and record the image brightness.

[0082] Adjust the current amplification factor of the structured light to make the image brightness reach the preset value.

[0083] Project floodlight and record the image brightness.

[0084] Adjust the current amplification factor of the floodlight to make the image brightness consistent with that of the structured light.

[0085] Test at the second distance:

[0086] Move the gray card to the second distance.

[0087] Repeat the above steps and adjust the current amplification factors of the structured light and the floodlight respectively to make the image brightness of both the same.

[0088] Determination of the current amplification factor:

[0089] Structured light current amplification factor: At the first distance and the second distance, record the current amplification factors required to make the structured light image brightness reach the preset value respectively.

[0090] Floodlight current amplification factor: At the first distance and the second distance, record the current amplification factors required to make the floodlight image brightness the same as the structured light image brightness respectively.

[0091] Through the above experimental steps, the current amplification factors required to make the structured light and the floodlight obtain the same image brightness at different distances can be determined. These factors can be applied in the production and debugging process of the structured light module to ensure that the module can provide high-quality image output under different lighting conditions.

[0092] Figure 3 This is a flowchart of the steps for calculating the brightness Y1 of the first central frame in the embodiments of the present invention. As Figure 3 shown, the steps for calculating the brightness Y1 of the first central frame in the embodiments of the present invention include:

[0093] Step S21: Extract the pixels of the first central frame on the first image and perform binarization.

[0094] In this step, first determine the position of the central frame on the first image. This is usually obtained through preset coordinates or dynamically calculated based on the image size. Then, extract all the pixels covered by the central frame from the image. Then perform binarization. Binarization is the process of converting an image into an image that only contains two pixel values (usually 0 and 255). This helps to simplify the image and make it more suitable for subsequent processing.

[0095] In this step, we select an appropriate threshold and compare the pixel values within the central frame with this threshold. Pixels higher than the threshold are set to 255 (white), while pixels lower than the threshold are set to 0 (black).

[0096] Step S22: Obtain the light spot area through threshold comparison.

[0097] In this step, in the binarized image, the threshold (the same as the threshold used for binarization) is applied again. This threshold is used to distinguish the light spot area (usually the brighter area) from the background area. Pixels above this threshold are considered part of the light spot area. By comparing with the threshold, it can be determined which pixels belong to the light spot area. These pixels will be used for subsequent calculation of the brightness mean. The light spot area obtained in this step is a mask, which can be corresponding to the corresponding area on the first image.

[0098] Step S23: Calculate the brightness mean of the light spot area on the first image as the brightness Y1 of the first central box.

[0099] In this step, since the light spot area has been determined, it is necessary to calculate the brightness mean of these pixels on the first image. The brightness mean will be the arithmetic mean of these pixel values, and the calculated brightness mean is used as the brightness Y1 of the first central box. This value can be used for subsequent comparison, analysis, or calibration processes.

[0100] By following these steps, we can accurately calculate the brightness of the central box of the first image captured by the structured light module. These steps not only ensure the accuracy of the calculation, but also improve the processing efficiency and reliability.

[0101] Figure 4 It is a schematic structural diagram of a system for improving the image brightness consistency of a structured light module in an embodiment of the present invention. As Figure 4 shown, a system for improving the image brightness consistency of a structured light module in an embodiment of the present invention includes:

[0102] A first setting module for setting a gray card at a first distance in front of the structured light module and enabling the structured light module to collect a first image of the gray card with a current X;

[0103] A first calculation module for calculating the brightness Y1 of the first central box on the first image to obtain a brightness coefficient β = Y1 / Y and a current amplification coefficient α = 1 / β; where Y is the brightness of the first central box on the image captured by the standard module at the first distance;

[0104] A second setting module for loading the current amplification coefficient into the structured light module, setting the gray card at a second distance in front of the structured light module, and enabling the structured light module to collect a second image of the gray card with a current X*α;

[0105] A second calculation module for calculating the brightness Y2 of the second central box on the second image to obtain a brightness coefficient β' = Y2 / Y'; where Y' is the brightness of the second central box on the image captured by the standard module at the second distance; the number of light spots in the first central box and the second central box is the same;

[0106] A judgment module, configured to save the current amplification factor α' = 1 / β' to the structured light module if β' is within a preset range; otherwise, execute the second setting module.

[0107] In this embodiment, according to the differences of different structured light modules, the brightness of the center point of the gray card test image is measured, and the current is adjusted iteratively, so as to quickly make the image brightness of different structured light modules consistent, which is beneficial to the consistency of the performance of the same model products.

[0108] Figure 5 It is a schematic structural diagram of a device for improving the image brightness consistency of a structured light module in an embodiment of the present invention. The following refers to Figure 5 to describe the electronic device 600 according to this embodiment of the present invention. Figure 5 The electronic device 600 shown is only an example, and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0109] As Figure 5 shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0110] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the method section for improving the image brightness consistency of a structured light module above in this specification. For example, the processing unit 610 can execute the steps as Figure 1 shown.

[0111] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.

[0112] The storage unit 620 may further include a program / utility 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a grid environment.

[0113] The bus 630 can represent one or more of several types of bus structures, including a memory unit bus or a memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of the various bus structures.

[0114] The electronic device 600 can also communicate with one or more external devices 700 (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 650. Moreover, the electronic device 600 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 through the bus 630. It should be understood that although Figure 5 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0115] In an embodiment of the present invention, there is also provided a computer-readable storage medium for storing a program, and the steps of a method for improving the image brightness consistency of a structured light module are implemented when the program is executed. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above-mentioned part of the method for improving the image brightness consistency of a structured light module in this specification.

[0116] As shown above, in this embodiment, according to the differences of different structured light modules, the brightness of the center point of the gray card test image is measured, and the current is iteratively adjusted, so that the image brightness of different structured light modules is quickly made consistent, which is beneficial to the performance consistency of products of the same model.

[0117] Figure 6 is a schematic structural diagram of the computer-readable storage medium in an embodiment of the present invention. Refer to Figure 6As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described. It may adopt a portable compact disc read-only memory (CD-ROM), include program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0118] The program product may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0119] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than the readable storage medium that can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0120] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0121] In this embodiment, according to the differences of different structured light modules, the brightness of the center point of the test image with a gray card is measured, and the current is adjusted iteratively to quickly make the image brightness of different structured light modules consistent, which is beneficial to the consistency of the performance of products of the same model.

[0122] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0123] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A method for improving the brightness consistency of a structured light module image, characterized in that: include: Step S1: placing a gray card at a first distance in front of a structured light module, and allowing the structured light module to capture a first image of the gray card with a current X; Step S2: Calculate the brightness Y1 of the first center frame on the first image to obtain a brightness coefficient β=Y1 / Y and a current amplification coefficient α=1 / β; wherein Y is the brightness of the first center frame on the image taken by the standard module at the first distance; Step S3: loading the current amplification factor into the structured light module, setting the gray card at a second distance in front of the structured light module, and allowing the structured light module to capture a second image of the gray card with a current of X*α; Step S4: Calculate the brightness Y2 of the second center frame on the second image to obtain a brightness coefficient β'=Y2 / Y'; wherein Y' is the brightness of the second center frame on the image taken by the standard module at the second distance; the first center frame and the second center frame have the same number of light spots; Step S5: If β' is within the preset range, the current amplification factor α'=1 / β' is saved in the structured light module; otherwise, execute step S3.

2. A method for improving the brightness consistency of a structured light module image according to claim 1, characterized in that: The first center frame is a rectangular frame centered at the center of the first image; and the second center frame is a rectangular frame centered at the center of the second image.

3. A method for improving the brightness consistency of a structured light module image according to claim 2, characterized in that: The shortest side length of the rectangular frame is not less than 1 / 10 of the side length of the image.

4. The method for improving the brightness consistency of a structured light module image according to claim 1, characterized in that: The structured light module includes a structured light projector and a receiver; The structured light projector is used to project infrared structured light; The receiver is used to receive the reflected signal of the infrared structured light and expose it.

5. A method for improving the brightness consistency of a structured light module image according to claim 4, characterized in that: Also includes: A floodlight is used to provide fill light for the structured light projector.

6. The method for improving the brightness consistency of a structured light module image according to claim 1, characterized in that: When the structured light module can project both structured light and flood light, the gray card is first set at the first distance to project the structured light and flood light respectively, and then the gray card is set at the second distance to project the structured light and flood light respectively, and the current amplification factor of the structured light and the current amplification factor of the flood light are designed respectively, so that the structured light and the flood light obtain consistent image brightness.

7. The method for improving the brightness consistency of a structured light module image according to claim 1, characterized in that: The calculation of the first center frame brightness Y1 includes: Step S21: extracting pixels of the first center frame on the first image and performing binarization; Step S22: obtaining the light spot area by threshold comparison; Step S23: calculating the average brightness of the light spot area on the first image as the first center frame brightness Y1.

8. A system for improving the brightness consistency of a structured light module image, used to implement the method for improving the brightness consistency of a structured light module image according to any one of claims 1 to 7, characterized in that: include: A first setting module, used to set a gray card at a first distance in front of the structured light module, and enable the structured light module to capture a first image of the gray card with a current X; A first calculation module is used to calculate the brightness Y1 of the first center frame on the first image to obtain a brightness coefficient β=Y1 / Y and a current amplification coefficient α=1 / β; wherein Y is the brightness of the first center frame on the image taken by the standard module at the first distance; A second setting module is used to load the current amplification factor into the structured light module, set the gray card at a second distance in front of the structured light module, and enable the structured light module to capture a second image of the gray card with the current X*α; A second calculation module is used to calculate the brightness Y2 of the second center frame on the second image to obtain a brightness coefficient β'=Y2 / Y'; wherein Y' is the brightness of the second center frame on the image taken by the standard module at the second distance; the first center frame and the second center frame have the same number of light spots; The judgment module is used to save the current amplification factor α'=1 / β' into the structured light module if β' is within a preset range; otherwise, execute the second setting module.

9. A device for improving the brightness consistency of a structured light module image, characterized in that: include: processor; a memory storing executable instructions of the processor; Wherein, the processor is configured to execute the steps of the method for improving the brightness consistency of the structured light module image as described in any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the method for improving the brightness consistency of the structured light module image as described in any one of claims 1 to 7 are implemented.

Images