Binocular depth camera control method and apparatus, and device and storage medium

Abstract

The present invention relates to the technical field of camera shooting. Provided are a binocular depth camera control method and apparatus, and a device and a storage medium. The method comprises: acquiring a first photographing signal, and acquiring a first image on the basis of the first photographing signal; acquiring image parameters of the first image, wherein the image parameters comprise a first parameter and a second parameter; if the image parameters do not belong to a set range, acquiring a fill light parameter of a first light source and a fill light parameter of a second light source, generating a second photographing signal on the basis of the fill light parameter of the first light source and the fill light parameter of the second light source, and acquiring a target depth image on the basis of the second photographing signal; and if the image parameters belong to the set range, acquiring the target depth image on the basis of the first photographing signal. In the present invention, various target images can be effectively acquired, thereby avoiding the defect in the prior art of a binocular depth camera being incapable of acquiring various depth images.

Description

Binocular depth camera control method, device, equipment and storage medium

[0001] Cross-references

[0002] This application refers to Chinese Patent Application No. 2023110953900, filed on August 28, 2023, entitled “Binocular Depth Camera Control Method, Device, Equipment and Storage Medium”, which is incorporated into this application in its entirety by reference. Technical Field

[0003] The present invention relates to the field of camera technology, and in particular to a binocular depth camera control method, device, equipment and storage medium. Background Art

[0004] Depth cameras can be divided into different types based on their principles, such as TOF (time of flight), binocular stereo vision, and structured light. Among them, binocular depth cameras are widely used due to their simple hardware and strong environmental adaptability, such as in machine vision, autonomous driving, and face recognition.

[0005] The current disadvantages of binocular stereo camera systems are:

[0006] 1. It is very sensitive to ambient light. Too bright or too dark environments are not conducive to image matching, thus affecting the depth results.

[0007] 2. One binocular depth camera cannot meet the needs of different fill-light contents. Usually, two binocular depth camera systems are required to achieve this, which will increase the equipment cost.

[0008] Therefore, it is urgent to provide a binocular depth camera control method that can meet various fill light requirements to achieve the acquisition of multiple depth images.

[0009] Summary of the Invention

[0010] In response to the shortcomings of the existing technology, the present invention provides a binocular depth camera control method, device, equipment and storage medium to solve the technical problem that the binocular stereo camera in the existing technology cannot meet various fill light requirements.

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0012] A first aspect of the present invention provides a binocular depth camera control method, the method comprising:

[0013] Acquire a first shooting signal, and acquire a first image based on the first shooting signal;

[0014] Acquiring image parameters of the first image; the image parameters include a first parameter and a second parameter;

[0015] If the image parameters do not fall within the set range, obtaining fill light parameters of the first light source and fill light parameters of the second light source, generating a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and obtaining a target depth image based on the second shooting signal;

[0016] The fill light parameters of the first light source are used to make the first parameter of the target depth image within a set range; the fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value;

[0017] If the image parameters are within the set range, a target depth image is acquired based on the first shooting signal.

[0018] Furthermore, the second shooting signal includes:

[0019] Image acquisition signal, used to acquire target depth image;

[0020] A first light intensity signal, used to set the light intensity value of the first light source when it is lit to a first light intensity value;

[0021] A first duration signal, used to control the first light source to be illuminated and the lighting duration is a first duration value;

[0022] A second light intensity signal, used to set the light intensity value of the second light source when it is turned on to a second light intensity value;

[0023] The second duration signal is used to control the second light source to be lit and the lighting duration is a second duration value.

[0024] Furthermore, the fill light parameters of the first light source are fill light parameters of non-visible light, and the fill light parameters of the second light source are fill light parameters of visible light.

[0025] Furthermore, the fill light parameters of the first light source are fill light parameters of a speckle projector, and the fill light parameters of the second light source are fill light parameters of infrared light.

[0026] A second aspect of the present invention further provides a binocular depth camera control device, the control system comprising:

[0027] A first acquisition module, configured to acquire a first shooting signal and acquire a first image based on the first shooting signal;

[0028] A second acquisition module, configured to acquire image parameters of the first image; the image parameters include a first parameter and a second parameter;

[0029] a first judgment and acquisition module, configured to, if the image parameters do not fall within a set range, obtain fill light parameters of the first light source and fill light parameters of the second light source, generate a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and obtain a target depth image based on the second shooting signal;

[0030] The fill light parameters of the first light source are used to make the first parameter of the target depth image within a set range; the fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value;

[0031] The second judgment and acquisition module is configured to acquire a target depth image based on the first shooting signal if the image parameter falls within a set range.

[0032] Furthermore, the first judgment and acquisition module includes:

[0033] An image acquisition unit, configured to acquire a target depth image;

[0034] A first light intensity control unit, used to set the light intensity value of the first light source when it is lit to a first light intensity value;

[0035] A first duration control unit, configured to control the first light source to be illuminated and to have an illumination duration equal to a first duration value;

[0036] A second light intensity control unit, used for setting the light intensity of the second light source to a second light intensity value when the second light source is turned on;

[0037] The second duration control unit is used to control the second light source to be lit and the lighting duration is a second duration value.

[0038] Furthermore, the fill light parameters of the first light source are fill light parameters of non-visible light, and the fill light parameters of the second light source are fill light parameters of visible light.

[0039] Furthermore, the fill light parameters of the first light source are fill light parameters of a speckle projector, and the fill light parameters of the second light source are fill light parameters of infrared light.

[0040] A third aspect of the present invention provides an electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0041] Memory for storing computer programs;

[0042] The processor is configured to implement any of the steps of the above-mentioned control method when executing the program stored in the memory.

[0043] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned control methods are implemented.

[0044] The present invention provides a binocular depth camera control method, system, device, and storage medium, which have the following advantages over the prior art:

[0045] A binocular depth camera control method provided by the present invention includes obtaining a first shooting signal and obtaining a first image based on the first shooting signal; obtaining image parameters of the first image; if the image parameters do not fall within a set range, obtaining fill light parameters required for adjusting the image parameters to a light source within the set range, and generating a second shooting signal based on the fill light parameters; if the image parameters fall within the set range, using the first shooting signal as a second shooting signal; and then obtaining a target depth image based on the second shooting signal; wherein the image parameters include a first parameter and a second parameter, the first parameter can be adjusted by the first light source, and the second parameter can be adjusted by the second light source.

[0046] By effectively controlling the two light sources, the binocular depth camera can provide fill light as needed, avoiding the defects of no fill light (for example, when the scene is too dark or the content lacks texture);

[0047] With the control method provided above, the binocular depth camera can select multiple modes, including the first light source alone for fill light, the second light source alone for fill light, the first and second light sources for fill light simultaneously, and neither the first nor the second light source for fill light, thereby achieving the acquisition of depth images of various targets;

[0048] This avoids the problem of increasing the image acquisition cost when using multiple binocular depth cameras to acquire depth images of multiple targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] FIG1 is a flow chart of a binocular depth camera control method provided in Example 1;

[0051] FIG2 is a schematic diagram showing the connection relationship between components of the binocular depth camera provided in Example 1;

[0052] FIG3 is a structural diagram of an electronic device provided in Example 3. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0054] In order to solve the technical problem that existing binocular depth cameras cannot meet various fill light requirements, the main ideas of this application are:

[0055] A binocular depth camera control method is provided, which can perform various forms of fill light according to fill light requirements and obtain a target depth image under corresponding fill light forms.

[0056] Through the above scheme, a single binocular depth camera can effectively acquire depth images of multiple targets (corresponding images under different fill light forms), avoiding the disadvantage that multiple binocular depth cameras are required to obtain multiple depth images in the existing technology; and improving the environmental adaptability of the binocular depth camera, so that it can acquire depth images in a variety of environments.

[0057] In order to better understand the technical solution of the present application, the technical solution of the present application will be introduced in detail below with reference to specific embodiments and drawings.

[0058] Example 1

[0059] With reference to FIG1 , this embodiment provides a binocular depth camera control method, the method comprising:

[0060] A first shooting signal is acquired, and a first image is acquired based on the first shooting signal.

[0061] Image parameters of the first image are acquired; the image parameters include a first parameter and a second parameter.

[0062] If the image parameters do not fall within the set range, obtaining fill light parameters of the first light source and fill light parameters of the second light source, generating a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and then obtaining a target depth image based on the second shooting signal;

[0063] The fill light parameters of the first light source are used to make the first parameter of the target depth image within a set range; the fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value;

[0064] If the image parameters are within the set range, a target depth image is acquired based on the first shooting signal.

[0065] The present embodiment provides a binocular depth camera control method that can effectively perform shooting with multiple fill-light modes, and can effectively avoid the drawbacks of existing binocular depth cameras that have general environmental adaptability and cannot obtain multiple depth images.

[0066] In the above method, when all image parameters are within the set range, it indicates that the binocular depth camera does not need to perform a fill light operation, and the target image can be directly acquired based on the first shooting signal.

[0067] When the first parameter is not within the set range and the second parameter is within the set range, indicating that the first light source is required to perform fill light and the second light source does not need to perform fill light, then after obtaining the fill light parameter of the first light source and the fill light parameter corresponding to when the second light source is not illuminated, a second shooting signal is generated based on the obtained fill light parameter of the first light source and the fill light parameter of the second light source, and a target depth image is acquired based on the second shooting signal;

[0068] When the first parameter is within the set range and the second parameter is not within the set range, indicating that the second light source is required for fill light but the first light source does not need to be filled in, then after obtaining the fill light parameters of the first light source (the fill light parameters of the first light source at this time correspond to the fill light parameters when the first light source is not lit) and the fill light parameters of the second light source, a second shooting signal is generated based on the fill light parameters of the first light source and the fill light parameters of the second light source, and based on the second shooting signal, the target image is acquired.

[0069] When both the first parameter and the second parameter are not within the set range, it indicates that both the first light source and the second light source are required to perform fill light. After obtaining the fill light parameters of the first light source and the fill light parameters of the second light source, a second shooting signal is generated, and based on the second shooting signal, a target depth image is obtained.

[0070] That is, the binocular depth camera control method provided by the present invention can realize four fill light modes, thereby effectively avoiding the aforementioned defects.

[0071] 2 , this embodiment provides a binocular depth camera control method, wherein the binocular depth camera comprises a control unit 5 , a first camera 1 , a second camera 2 , a first light source 3 , a second light source 4 , a first driving module 6 and a second driving module 7 ;

[0072] Referring to Figure 2, the connection relationship between the above modules is as follows:

[0073] The first camera 1 , the second camera 2 , the first driving module 6 and the second driving module 7 are respectively connected to the control unit 5 , the first camera 1 and the first light source 3 are respectively connected to the first driving module 6 , and the second camera 2 and the second light source 4 are respectively connected to the second driving module 7 .

[0074] The control method of the above-mentioned binocular depth camera includes:

[0075] The control unit 5 obtains a first shooting signal and obtains a first image based on the first shooting signal; the process includes: after the control unit 5 obtains the first shooting signal (the first shooting signal comes from external input (such as manual input) or is preset in the control unit 5), controlling the first camera 1 and the second camera 2 to synchronously shoot a frame of image, the control unit 5 obtains the image synchronously shot by the first camera 1 and the second camera 2 (that is, the control unit 5 obtains two shot images), and selects one of the two shot images as the first image.

[0076] After obtaining the first image, the control unit 5 acquires image parameters therein.

[0077] The image parameters include a first parameter and a second parameter; wherein the first parameter can be adjusted by the intensity and duration of the light emitted by the first light source 3, and the second parameter can be adjusted by the intensity and duration of the light emitted by the second light source 4.

[0078] After obtaining the image parameters, the control unit 5 determines whether the image parameters are within the set range, wherein:

[0079] Judgment result 1:

[0080] If the image parameters do not fall within the set range, the control unit 5 obtains the fill light parameters of the first light source 3 and the fill light parameters of the second light source 4 (the fill light parameters of the first light source 3 and the fill light parameters of the second light source 4 can come from external input or a correspondence table preset in the control unit 5; for example, manually input or adjust the specific values ​​of the specific fill light parameters, etc., or the control unit 5 independently selects according to the correspondence between the image parameters and the fill light parameters preset therein); wherein, the fill light parameters of the first light source 3 are used to make the first parameters of the target depth image within the set range, and the fill light parameters of the second light source 4 are used to make the second parameters of the target depth image within the set range.

[0081] After acquiring the fill light parameters of the first light source 3 and the second light source 4 , the control unit 5 generates a second shooting signal based on the fill light parameters of the first light source 3 and the second light source 4 , and then acquires a target depth image based on the second shooting signal.

[0082] Among them, the fill light parameters of the first light source 3 include a first duration value and a first light intensity value, and the fill light parameters of the second light source 4 include a second duration value and a second light intensity value; that is, the first duration value and the second light intensity value constitute the fill light parameters of the first light source 3 for making the first parameter of the target depth image within a set range, and the second duration value and the second light intensity value constitute the fill light parameters of the second light source 4 for making the second parameter of the target depth image within a set range.

[0083] When the fill light parameters of the light source are not within the set range, the following situations may occur:

[0084] Case 1: The first parameter is not within the set range and the second parameter is within the set range. The fill light parameters of the first light source 3 obtained by the control unit 5 include a first light intensity value and a first duration value (under the combined action of the two, the first light source 3 is illuminated as required), and the fill light parameters of the second light source 4 obtained include a second light intensity value and a second duration value (under the combined action of the two, the second light source 4 is not illuminated), and the fill light parameters of the first light source 3 are used to make the first parameter of the target depth image within the set range; that is, when the first camera 1 and the second camera 2 perform synchronous shooting later, the first light source 3 also works (the light intensity value when it is illuminated is the first light intensity value and the illumination duration is the first duration value) for fill light, and the first parameter in the obtained target depth image is within the set range; wherein, since the second parameter is within the set range and the second light source 4 is not working later, when the external environment does not change, the second parameter in the obtained target depth image is also within the set range.

[0085] Case 2: The first parameter is within the set range and the second parameter is not within the set range, then the fill light parameters of the first light source 3 obtained by the control unit 5 include the first light intensity value and the first duration value (under the combined action of the two, the first light source 3 is not illuminated), and the fill light parameters of the second light source 4 obtained by the control unit 5 include the second light intensity value and the second duration value (under the combined action of the two, the second light source 4 is illuminated as required), and the fill light parameters of the second light source 4 are used to make the second parameter of the target depth image within the set range; that is, when the first camera 1 and the second camera 2 perform synchronous shooting later, the second light source 4 also works (the light intensity value when it is illuminated is the second light intensity value and the illumination duration is the second duration value) for fill light, and the second parameter in the obtained target depth image is within the set range; wherein, since the first parameter is within the set range and the first light source 3 is not working later, when the external environment does not change, the first parameter in the obtained target depth image is also within the set range.

[0086] Case three: Both the first parameter and the second parameter are not within the set range. The control unit 5 obtains the fill light parameters of the first light source 3 and the second light source 4 at the same time. The fill light parameters of the first light source 3 (including the first light intensity value and the first duration value, under the joint action of the two, the first light source 3 is illuminated as required) are used to make the first parameter of the target depth image within the set range, and the fill light parameters of the second light source 4 (including the second light intensity value and the second duration value, under the joint action of the two, the second light source 4 is illuminated as required) are used to make the second parameter of the target depth image within the set range; that is, when the first camera 1 and the second camera 2 are shooting synchronously later, the first light source 3 and the second light source 4 also work separately and are used for fill light respectively. When the external environment does not change, the first parameter and the second parameter in the obtained target depth image are both within the set range.

[0087] In the above three situations, after the control unit 5 obtains the fill light parameters of the first light source 3 and the fill light parameters of the second light source 4, it generates a second shooting signal based on the fill light parameters of the first light source 3 and the fill light parameters of the second light source 4, and obtains the target depth image based on the second shooting signal.

[0088] The control unit 5 generates a second shooting signal based on the fill light parameters of the first light source 3 and the fill light parameters of the second light source 4, and the process of acquiring the target depth image based on the second shooting signal includes:

[0089] Situation at the moment:

[0090] The control unit 5 generates an image acquisition signal for controlling the first camera 1 and the second camera 2 to shoot synchronously and obtain a target depth image. The specific process includes: the control unit 5 sends the generated image acquisition signal to the first camera 1 and the second camera 2, controls the first camera 1 and the second camera 2 to shoot synchronously, and obtains the images taken by the two as the target depth image.

[0091] The control unit 5 generates a first light intensity signal corresponding to the first light intensity value, which is used to set the light intensity value when the first light source 3 is lit to the first light intensity value; the specific process includes the control unit 5 sending the first light intensity signal to the first driving module 6, and the first driving module 6 sets the light intensity value when the first light source 3 is lit to the first light intensity value after receiving the first light intensity signal.

[0092] The control unit 5 generates a first duration signal corresponding to the first duration value, which is used to control the first light source 3 to be illuminated and the illumination duration is the first duration value. The specific process includes the control unit 5 sending the first duration signal to the first camera 1. After the first camera 1 receives the first duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, the first camera 1 synchronously sends a stroboscopic signal. The stroboscopic signal of the first camera 1 controls the first light source 3 to be illuminated through the first driving module 6. The duration of the stroboscopic signal of the first camera 1 is the same as the duration of the illumination of the first light source 3, and both are the first duration value. The first duration value is less than the exposure duration of the first camera 1, so that the fill light process of the first light source 3 is within the exposure process of the first camera 1.

[0093] The control unit 5 generates a second light intensity signal corresponding to the second light intensity value, which is used to set the light intensity value of the second light source 4 when it is lit to the second light intensity value. The specific process includes: the control unit 5 sends the generated second light intensity signal to the second driving module 7. After receiving the first light intensity signal, the second driving module 7 does not set the light intensity value of the second light source 4. Even if the second camera 2 sends a stroboscopic signal later and triggers the second light source 4 through the second driving module, the second light source 4 cannot emit any content.

[0094] The control unit 5 generates a second duration signal corresponding to the second duration value, which is used to control the second light source 4 to be illuminated and the lighting duration is the second duration value. The specific process includes: the control unit 5 sends the second duration signal to the second camera 2. After the second camera 2 receives the second duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, it does not trigger the stroboscopic signal.

[0095] Situation 2:

[0096] The control unit 5 generates an image acquisition signal for controlling the first camera 1 and the second camera 2 to shoot synchronously and obtain a target depth image. The specific process includes: the control unit 5 sends the generated image acquisition signal to the first camera 1 and the second camera 2, controls the first camera 1 and the second camera 2 to shoot synchronously, and obtains the images taken by the two as the target depth image.

[0097] The control unit 5 generates a first light intensity signal corresponding to the first light intensity value, which is used to set the light intensity value of the first light source 3 when it is lit to the first light intensity value; the specific process includes the control unit 5 sending the first light intensity signal to the first driving module 6, and the first driving module 6 does not set the light intensity value of the first light source 3 after receiving the first light intensity signal; and even if the first camera 1 sends a stroboscopic signal later and triggers the first light source 3 through the first driving module 6, the first light source 3 cannot emit any content.

[0098] The control unit 5 generates a first duration signal corresponding to the first duration value, which is used to set the first light source 3 to be illuminated and the illumination duration to be the first duration value. The specific process includes the control unit 5 sending the first duration signal to the first camera 1. After the first camera 1 receives the first duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, it does not trigger the stroboscopic signal.

[0099] The control unit 5 generates a second light intensity signal corresponding to the second light intensity value, which is used to set the light intensity value when the second light source 4 is lit to the second light intensity value; the specific process includes: the control unit 5 sends the generated second light intensity signal to the second driving module 7, and after receiving the second light intensity signal, the second driving module 7 sets the light intensity value when the second light source 4 is lit to the second light intensity value.

[0100] The control unit 5 generates a second duration signal corresponding to the second duration value, which is used to control the second light source 4 to be illuminated and the illumination duration is the second duration value. The specific process includes: the control unit 5 sends the second duration signal to the second camera 2. After the second camera 2 receives the second duration signal, when it is triggered by the image signal to shoot and start exposure, the stroboscopic signal of the second camera 2 is synchronously triggered. The stroboscopic signal of the second camera 2 controls the second light source 4 to be illuminated through the second driving module 7. The duration of the stroboscopic signal of the second camera 2 is the same as the duration of the illumination of the second light source 4 and is both the second duration value. The second duration value is less than the exposure duration of the second camera 2, so that the fill light process of the second light source 4 is within the exposure process of the second camera 2.

[0101] Situation 3:

[0102] The control unit 5 generates an image acquisition signal for controlling the first camera 1 and the second camera 2 to shoot synchronously and obtain a target depth image. The specific process includes: the control unit 5 sends the generated image acquisition signal to the first camera 1 and the second camera 2, controls the first camera 1 and the second camera 2 to shoot synchronously, and obtains the images taken by the two as the target depth image.

[0103] The control unit 5 generates a first light intensity signal corresponding to the first light intensity value, which is used to set the light intensity value when the first light source 3 is lit to the first light intensity value; the specific process includes the control unit 5 sending the first light intensity signal to the first driving module 6, and the first driving module 6 sets the light intensity value when the first light source 3 is lit to the first light intensity value after receiving the first light intensity signal.

[0104] The control unit 5 generates a first duration signal corresponding to the first duration value, which is used to control the first light source 3 to be illuminated and the illumination duration is the first duration value. The specific process includes the control unit 5 sending the first duration signal to the first camera 1. After the first camera 1 receives the first duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, the first camera 1 synchronously sends a stroboscopic signal. The stroboscopic signal of the first camera 1 controls the first light source 3 to be illuminated through the first driving module 6. The duration of the stroboscopic signal of the first camera 1 is the same as the duration of the illumination of the first light source 3, and both are the first duration value. The first duration value is less than the exposure duration of the first camera 1, so that the fill light process of the first light source 3 is within the exposure process of the first camera 1.

[0105] The control unit 5 generates a second light intensity signal corresponding to the second light intensity value, which is used to set the light intensity value when the second light source 4 is lit to the second light intensity value; the specific process includes: the control unit 5 sends the generated second light intensity signal to the second driving module 7, and after receiving the second light intensity signal, the second driving module 7 sets the light intensity value when the second light source 4 is lit to the second light intensity value.

[0106] The control unit 5 generates a second duration signal corresponding to the second duration value, which is used to control the second light source 4 to be illuminated and the illumination duration is the second duration value. The specific process includes: the control unit 5 sends the second duration signal to the second camera 2. After the second camera 2 receives the second duration signal, when it is triggered by the image signal to shoot and start exposure, the stroboscopic signal of the second camera 2 is synchronously triggered. The stroboscopic signal of the second camera 2 controls the second light source 4 to be illuminated through the second driving module 7. The duration of the stroboscopic signal of the second camera 2 is the same as the duration of the illumination of the second light source 4 and is both the second duration value. The second duration value is less than the exposure duration of the second camera 2, so that the fill light process of the second light source 4 is within the exposure process of the second camera 2.

[0107] Judgment result 2:

[0108] If the image parameters are within the set range (that is, the first parameter is within the corresponding set range, and the second parameter is also within its corresponding set range), it means that no fill light operation is required. In this case:

[0109] The control unit 5 directly obtains the target depth image based on the first shooting signal; that is, the control unit 5 generates a first shooting signal and sends it to the first camera 1 and the second camera 2, controls the first camera 1 and the second camera 2 to shoot synchronously, and obtains the images taken by the two as the target depth image.

[0110] or

[0111] The control unit 5 performs the following operations:

[0112] The control unit 5 generates an image acquisition signal for controlling the first camera 1 and the second camera 2 to shoot synchronously and obtain a target depth image. The specific process includes: the control unit 5 sends the generated image acquisition signal to the first camera 1 and the second camera 2, controls the first camera 1 and the second camera 2 to shoot synchronously, and obtains the images taken by the two as the target depth image.

[0113] The control unit 5 generates a first light intensity signal corresponding to the first light intensity value, which is used to set the light intensity value of the first light source 3 when it is lit to the first light intensity value; the specific process includes the control unit 5 sending the first light intensity signal to the first driving module 6, and the first driving module 6 does not set the light intensity value of the first light source 3 after receiving the first light intensity signal; and even if the first camera 1 sends a stroboscopic signal later and triggers the first light source 3 through the first driving module 6, the first light source 3 cannot emit any content.

[0114] The control unit 5 generates a first duration signal corresponding to the first duration value, which is used to set the first light source 3 to be illuminated and the illumination duration to be the first duration value. The specific process includes the control unit 5 sending the first duration signal to the first camera 1. After the first camera 1 receives the first duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, it does not trigger the stroboscopic signal.

[0115] The control unit 5 generates a second light intensity signal corresponding to the second light intensity value, which is used to set the light intensity value of the second light source 4 when it is lit to the second light intensity value. The specific process includes: the control unit 5 sends the generated second light intensity signal to the second driving module 7. After receiving the second light intensity signal, the second driving module 7 does not set the light intensity value of the second light source 4. Even if the second camera 2 sends a stroboscopic signal later and triggers the second light source 4 through the second driving module, the second light source 4 cannot emit any content.

[0116] The control unit 5 generates a second duration signal corresponding to the second duration value, which is used to control the second light source 4 to be illuminated and the lighting duration is the second duration value. The specific process includes: the control unit 5 sends the second duration signal to the second camera 2. After the second camera 2 receives the second duration signal, when it is triggered by the image acquisition signal to shoot and start exposure, it does not trigger the stroboscopic signal.

[0117] The first light intensity value and the first duration value are both fill light parameters corresponding to when the first light source 3 does not need fill light, and the second light intensity value and the second duration value are both fill light parameters corresponding to when the second light source 4 does not need fill light.

[0118] Through the above-mentioned setting and control method, it is possible to realize the selection of multiple fill lights for a single binocular depth camera according to the setting range obtained by the control unit 5 (input from the outside or stored in the control unit 5), thereby obtaining multiple target depth images, while improving the environmental adaptability of the binocular depth camera; avoiding the disadvantage that the existing binocular depth camera cannot obtain multiple target depth images.

[0119] In some embodiments, the fill light parameters of the first light source 3 are fill light parameters of non-visible light, and the fill light parameters of the second light source 4 are fill light parameters of visible light; that is, the first light source 3 is a visible light source, and the second light source 4 is a non-visible light source.

[0120] In some embodiments, the fill light parameters of the first light source 3 are fill light parameters of a speckle projector, and the fill light parameters of the second light source 4 are fill light parameters of infrared light; that is, the first light source 3 is a speckle projector, and the second light source 4 is an infrared LED lamp.

[0121] That is, the first light source 3 and the second light source 4 emit different contents, thereby meeting different fill light requirements.

[0122] Example 2

[0123] This embodiment provides a binocular depth camera control device, the control system comprising:

[0124] A first acquisition module, configured to acquire a first shooting signal and acquire a first image based on the first shooting signal;

[0125] A second acquisition module, configured to acquire image parameters of the first image; the image parameters include a first parameter and a second parameter;

[0126] a first judgment and acquisition module, configured to, if the image parameters do not fall within a set range, obtain fill light parameters of the first light source and fill light parameters of the second light source, generate a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and obtain a target depth image based on the second shooting signal;

[0127] The fill light parameters of the first light source are used to make the first parameter of the target depth image within a set range; the fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value;

[0128] The second judgment and acquisition module is configured to acquire a target depth image based on the first shooting signal if the image parameter falls within a set range.

[0129] The first judgment and acquisition module includes:

[0130] An image acquisition unit, configured to acquire a target depth image;

[0131] A first light intensity control unit, used to set the light intensity value of the first light source when it is lit to a first light intensity value;

[0132] A first duration control unit, configured to control the first light source to be illuminated and to have an illumination duration equal to a first duration value;

[0133] A second light intensity control unit, used for setting the light intensity of the second light source to a second light intensity value when the second light source is turned on;

[0134] The second duration control unit is used to control the second light source to be lit and the lighting duration is a second duration value.

[0135] In some embodiments, the fill light parameters of the first light source are fill light parameters of non-visible light, and the fill light parameters of the second light source are fill light parameters of visible light.

[0136] In some embodiments, the fill light parameters of the first light source are fill light parameters of a speckle projector, and the fill light parameters of the second light source are fill light parameters of infrared light.

[0137] It can be understood that the binocular depth camera control device provided in an embodiment of the present invention corresponds to the above-mentioned binocular depth camera control method. The explanation, examples, beneficial effects, etc. of the relevant contents can refer to the corresponding contents in the method for identifying the eye focus position, and will not be repeated here.

[0138] Example 3

[0139] 3 , this embodiment provides an electronic device, which includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0140] Memory for storing computer programs;

[0141] The processor is configured to implement the steps of the binocular depth camera control method as claimed in claim 1 when executing the program stored in the memory.

[0142] As shown in FIG3 , the system includes a processor 401 , a communication interface 402 , a memory 403 and a communication bus 404 , wherein the processor 401 , the communication interface 402 and the memory 403 communicate with each other via the communication bus 404 .

[0143] Memory 403, used for storing computer programs;

[0144] The processor 401 is configured to implement any of the above binocular depth camera control methods when executing the program stored in the memory 403 .

[0145] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0146] The communication interface is used for communication between the above electronic device and other devices.

[0147] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0148] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0149] Example 4

[0150] This embodiment provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned binocular depth camera control method are implemented.

[0151] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part.

[0152] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0153] In summary, compared with the prior art, the binocular depth camera control method, device, equipment and storage medium provided by the present invention have the following beneficial effects:

[0154] After determining whether the image parameters are within the set range, the fill light parameters can be obtained according to the judgment results. According to the obtained fill light parameters, different light sources can be effectively controlled to perform fill light separately, thereby realizing the free selection of multiple fill light modes and effectively obtaining the target depth image.

[0155] This avoids the defects of the existing binocular depth camera in poor environmental adaptability and inability to obtain multiple depth images.

[0156] Improved the environmental adaptability of the binocular depth camera;

[0157] This avoids the problem of increasing the image acquisition cost when using multiple binocular depth cameras to acquire depth images of multiple targets.

[0158] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0159] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A binocular depth camera control method, characterized in that: The method includes: Acquire a first shooting signal, and acquire a first image based on the first shooting signal; Acquire image parameters of the first image; the image parameters include a first parameter and a second parameter; If the image parameters do not fall within the set range, obtaining fill light parameters of the first light source and fill light parameters of the second light source, generating a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and obtaining a target depth image based on the second shooting signal; The fill light parameters of the first light source are used to make the first parameter of the target depth image within a set range; the fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value; If the image parameters are within the set range, a target depth image is acquired based on the first shooting signal.

2. The control method according to claim 1, characterized in that: The second shooting signal includes: An image acquisition signal is used to acquire a target depth image; A first light intensity signal, used to set the light intensity value of the first light source when it is lit to a first light intensity value; A first duration signal, used to control the first light source to be lit and the lighting duration is a first duration value; A second light intensity signal, used to set the light intensity value of the second light source when it is lit to a second light intensity value; The second duration signal is used to control the second light source to be lit and the lighting duration is a second duration value.

3. The control method according to claim 1, characterized in that: The fill light parameters of the first light source are fill light parameters of non-visible light, and the fill light parameters of the second light source are fill light parameters of visible light.

4. The control method according to claim 1, characterized in that: The fill light parameters of the first light source are fill light parameters of a speckle projector, and the fill light parameters of the second light source are fill light parameters of infrared light.

5. A binocular depth camera control device, characterized in that: The control system comprises: A first acquisition module, used for acquiring a first shooting signal and acquiring a first image based on the first shooting signal; A second acquisition module, used to acquire image parameters of the first image; the image parameters include a first parameter and a second parameter; A first judgment acquisition module is used to execute, if the image parameter does not belong to the set range, to obtain the fill light parameters of the first light source and the fill light parameters of the second light source, generate a second shooting signal based on the fill light parameters of the first light source and the fill light parameters of the second light source, and obtain a target depth image based on the second shooting signal; The fill light parameter of the first light source is used to make the first parameter of the target depth image within a set range; The fill light parameters of the second light source are used to make the second parameter of the target depth image within a set range; the fill light parameters of the first light source include a first duration value and a first light intensity value, and the fill light parameters of the second light source include a second duration value and a second light intensity value; The second judgment acquisition module is used to execute, if the image parameter belongs to the set range, to acquire the target depth image based on the first shooting signal.

6. The control device according to claim 5, characterized in that: The first judgment acquisition module includes: An image acquisition unit, used for acquiring a target depth image; A first light intensity control unit, used to set the light intensity value of the first light source when it is lit to a first light intensity value; A first duration control unit, used to control the first light source to be lit and the lighting duration is a first duration value; A second light intensity control unit, used to set the light intensity value of the second light source when it is lit to a second light intensity value; The second duration control unit is used to control the second light source to be lit and the lighting duration is a second duration value.

7. The control device according to claim 5, characterized in that: The fill light parameters of the first light source are fill light parameters of non-visible light, and the fill light parameters of the second light source are fill light parameters of visible light.

8. The control device according to claim 5, characterized in that: The fill light parameters of the first light source are fill light parameters of a speckle projector, and the fill light parameters of the second light source are fill light parameters of infrared light.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor is used to implement the steps of the control method described in any one of claims 1 to 4 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 4 are implemented.

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