Camera module and control method therefor

Abstract

The present disclosure relates to a camera module and a control method therefor, the camera module being capable of generating a visible light image in which traces of infrared patterned light are not visible even when the patterned light is emitted to acquire three-dimensional depth information of a subject, and acquiring the three-dimensional depth information of the subject on the basis of an infrared image obtained using the infrared patterned light. The present disclosure may provide a camera module comprising: a light-receiving unit including an RGB−IR sensor; and a processor which generates a second IR signal on the basis of a second RGB-IR signal obtained through the RGB−IR sensor, generates a second RGB signal on the basis of subtracting the second IR signal from the second RGB-IR signal, generates a YUV signal on the basis of the second RGB signal, generates a third IR signal by blending a Y component signal of the YUV signal with the second IR signal, and generates a three-dimensional depth image signal on the basis of the third IR signal.

Description

Camera module and its control method

[0001] The present disclosure relates to a camera module, and more particularly, to a camera module having an RGB-IR sensor capable of capturing visible light images and infrared images, and a method for controlling the same.

[0002] Recently, camera modules and related technologies equipped with RGB-IR sensors capable of capturing visible light and infrared images are being developed.

[0003] In general, an RGB-IR sensor has a structure including R (Red) pixels, G (Green) pixels, and B (Blue) pixels for acquiring a visible light image (or color image or RGB image) in the visible light range, and IR (Infrared Ray) pixels for acquiring an infrared image (or IR image). That is, a single RGB-IR sensor is configured by a combination of RGB pixel and IR pixel arrays. Therefore, a camera module equipped with an RGB-IR sensor can simultaneously capture visible light images and infrared images, and thus can be usefully used not only during the day but also at night.

[0004] A camera module equipped with an RGB-IR sensor may be used to acquire three-dimensional depth information of a subject. To this end, the camera module may further include a light-emitting element for irradiating infrared patterned light, for example, in a grid shape, to easily acquire three-dimensional depth information of a subject without texture. A camera module capable of acquiring three-dimensional depth information of a subject may be referred to as a stereo camera module.

[0005] However, when irradiating infrared pattern light, there is a problem that some of the infrared pattern light may be received by RGB pixels, leaving traces of the infrared pattern light in the visible light image, which may degrade the quality of the visible light image.

[0006] The present disclosure is proposed to solve the above-mentioned problem, and its purpose is to provide a camera module and a control method thereof capable of generating a visible light image in which no trace of the pattern light is visible even when infrared pattern light is irradiated to obtain three-dimensional depth information of a subject, and of obtaining three-dimensional depth information of a subject based on an infrared image using infrared pattern light.

[0007] To achieve the above object, the present disclosure may provide a camera module including a light receiving unit having an RGB-IR sensor, and a processor that generates a second IR signal based on a second RGB-IR signal acquired through the RGB-IR sensor, generates a second RGB signal based on subtracting the second IR signal from the second RGB-IR signal, generates a YUV signal based on the second RGB signal, generates a third IR signal by blending a Y component signal of the YUV signal with the second IR signal, and generates a three-dimensional depth image signal based on the third IR signal.

[0008] The above light receiving unit may include a left light receiving unit and a right light receiving unit.

[0009] The above camera module may further include a light emitting unit for irradiating infrared pattern light.

[0010] The above processor can generate a second RGB-IR signal by dual band-pass filtering the first RGB-IR signal acquired through the RGB-IR sensor.

[0011] The processor can generate a second IR signal by interpolating a first IR signal extracted from a second RGB-IR signal.

[0012] The above processor can generate a second RGB signal by interpolating a first RGB signal generated by subtracting a second IR signal from a second RGB-IR signal.

[0013] The above processor can perform dewarping processing on the second IR signal and the second RGB signal.

[0014] The above processor may include a stereo engine for generating a three-dimensional depth image signal.

[0015] The above camera module further includes a dual band pass filter for the dual band pass filtering, and the dual band pass filter may have a characteristic of passing signals in the visible light band and signals in the infrared band.

[0016] The above processor can generate a visible light image signal based on the YUV signal.

[0017] In addition, to achieve the above object, the present disclosure may provide a method for controlling a camera module, including a step of generating a second IR signal based on a second RGB-IR signal acquired through an RGB-IR sensor, a step of generating a second RGB signal based on subtracting the second IR signal from the second RGB-IR signal, a step of generating a YUV signal based on the second RGB signal, a step of generating a third IR signal by blending a Y component signal of the YUV signal with the second IR signal, and a step of generating a three-dimensional depth image signal based on the third IR signal.

[0018] The effects of the camera module and its control method according to the present disclosure are as follows.

[0019] According to one aspect of the present disclosure, there is an advantage in that even if infrared pattern light is irradiated to obtain three-dimensional depth information of a subject, a visible light image is generated in which no trace of the pattern light is visible, and three-dimensional depth information of a subject can be obtained based on an infrared image using infrared pattern light.

[0020] FIG. 1 is a perspective view of a camera module according to one aspect of the present disclosure.

[0021] FIG. 2 is a block diagram of a camera module according to one aspect of the present disclosure.

[0022] Figure 3 is a flowchart for image processing of the processor of Figure 2.

[0023] Figure 4 is an example of separation of the RGB signal and IR signal of Figure 3.

[0024] FIG. 5 is an example of a visible light image and a 3D depth image according to one aspect of the present disclosure.

[0025] FIG. 6 is a graph showing RGB-IR signal and dual band pass filter characteristics according to one aspect of the present disclosure.

[0026] Figure 7 is a graph of the R component, G component, B component, and IR component of a dual-band pass filtered RGB-IR signal.

[0027] Figures 8 to 10 are examples of image processing according to one aspect of the present disclosure.

[0028] FIG. 11 is an example of generation of a visible light image and a 3D depth image according to one aspect of the present disclosure.

[0029] Fig. 12 is a flowchart of image processing of a camera module according to one aspect of the present disclosure.

[0030] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0031] These components may each be implemented as separate individual hardware modules, or may be implemented as two or more hardware modules, or two or more components may be implemented as one hardware module, and in some cases, they may also be implemented as software.

[0032] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0033] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0034] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprises" or "have" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the disclosure, but should be understood not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] In this disclosure, the expression “at least one of A and B” may mean “A,” may mean “B,” or may mean both “A” and “B.”

[0036] Referring to FIGS. 1 and 2, a camera according to one aspect of the present disclosure will be described. FIG. 1 is a perspective view of a camera module according to one aspect of the present disclosure, and FIG. 2 is a block diagram of a camera module according to one aspect of the present disclosure.

[0037] The above camera module (100) may include a light receiving unit (110), a light emitting unit (120), and a processor (130). It goes without saying that the camera module (100) described in the present disclosure may include other components in addition to the components listed above.

[0038] The above light receiving unit (110) may include a lens (111) for focusing incident light corresponding to the subject image (P1) and an RGB-IR sensor (113) for sensing the focused incident light.

[0039] The RGB-IR sensor (113) may include an R pixel, a G pixel, and a B pixel for acquiring a visible light image (or a color image) in the visible light region, and an IR pixel for acquiring an infrared image. One R pixel, one G pixel, one B pixel, and one IR pixel may form an individual pixel group. An image signal sensed by the RGB-IR sensor (113) may be referred to as an RGB-IR image signal.

[0040] The above light receiving unit (110) may include a left light receiving unit (110L) and a right light receiving unit (110R) that are horizontally spaced apart from each other to obtain three-dimensional depth information of a subject by using left and right binocular disparity.

[0041] The above light emitting unit (120) can be arranged to irradiate patterned light in front of the camera module (100) so that the camera module (100) can easily obtain three-dimensional depth information even of a subject that does not have a texture.

[0042] The processor (130) may include a dual band pass filter (131) and a signal processing module (133). The dual band pass filter (131) is illustrated as being included within the processor (130), but may also be configured as a separate component from the processor (130).

[0043] The above dual-band pass filter (131) can pass both image signals of two bands, that is, image signals of the visible light band and image signals of the infrared band. The image signals of the visible light band can be used to generate a visible light image (P2) during the day, and the image signals of the infrared band can be used to generate an infrared image (P2) at night.

[0044] Since the visible light image (P1) and the infrared image (P2) are generated through one RGB-IR sensor (113), there is a characteristic that there is no parallax between the visible light image (P1) and the infrared image (P2).

[0045] The signal processing module (133) can process an image signal in the visible light band to generate a visible light image (P2) and process an image signal in the infrared band to generate an infrared image (P3).

[0046] The above visible light image (P2) may include a left visible light image (P2L) sensed by the left light receiving unit (110L) and subjected to image processing, and a right visible light image (P2R) sensed by the right light receiving unit (110R) and subjected to image processing. In addition, the infrared image (P3) may include a left infrared image (P3L) sensed by the left light receiving unit (110L) and subjected to image processing, and a right infrared image (P3R) sensed by the right light receiving unit (110R) and subjected to image processing.

[0047] A more specific image processing process of the above processor (130) will be described with further reference to FIGS. 3 and 4. FIG. 3 is a flowchart for image processing of the processor of FIG. 2, and FIG. 4 is an example of separation of the RGB signal and IR signal of FIG. 3.

[0048] The above processor (130) can receive an RGB-IR image signal (S1) from the light receiving unit (110).

[0049] The above processor (130) can perform black level subtraction on the RGB-IR image signal (S1) [S301]. The black level subtraction means processing a signal value (e.g., noise) below a certain level in the RGB-IR image signal (S1) to become a black signal value.

[0050] Next, the processor (130) can perform lens shading correction on the RGB-IR image signal (S1) from which the black level has been removed [S303]. The lens shading correction means improving the uniformity of brightness of the entire image by correcting the shading phenomenon in which the edge of the image appears dark due to the optical curvature characteristics of the camera lens.

[0051] Next, the processor (130) can separate the RGB-IR image signal (S1) into a first RGB pixel signal (S2) composed of only RGB pixel signals and a first IR pixel signal (S4) composed of only IR pixel signals [S305].

[0052] Next, the processor (130) can interpolate a portion corresponding to an IR pixel in the first RGB pixel signal (S2) to generate a second RGB pixel signal (S3) [S307]. The second RGB pixel signal (S3) may be an RSSB signal.

[0053] Next, the processor (130) can perform additional image processing, such as white balancing, on the second RGB pixel signal (S3) to generate the visible light image (P2) [S309].

[0054] Meanwhile, the processor (130) can interpolate a portion corresponding to an RGB pixel in the first IR pixel signal (S4) to generate a second IR pixel signal (S5) or the infrared image (P3) [S311].

[0055] The above visible light image (P2) and the three-dimensional depth image of the subject generated based on the second IR pixel signal will be further described with reference to FIG. 5. FIG. 5 is an example of a visible light image and a three-dimensional depth image according to one aspect of the present disclosure.

[0056] Since the process of generating a depth image using three-dimensional depth information of a subject based on binocular disparity is well known to those skilled in the art, a detailed description thereof will be omitted for the sake of brevity of the present disclosure.

[0057] Fig. 5 (5-1) shows a visible light image (P2) and a depth image (P4) obtained by processing an RGB-IR image captured without irradiation of infrared pattern light as described in Fig. 4. As shown in Fig. 5 (5-1), it can be seen that the depth information of the texture-less subject portion (R1) in the depth image (P4) is inaccurate.

[0058] Fig. 5 (5-2) shows a visible light image (P2) and a depth image (P4) obtained by processing an RGB-IR image captured while irradiating infrared pattern light as described in Fig. 4. As shown in Fig. 5 (5-2), it can be seen that the depth information of a texture-free subject portion (R1) is relatively accurate in the depth image (P4) due to the pattern light. However, there is a subject portion (R2) in which traces of the pattern light are visible in the visible light image (P2). This degrades the quality of the visible light image (P2).

[0059] Below, a method for processing an RGB-IR image captured while irradiating infrared pattern light to prevent traces of the pattern light from being visible in the visible light image (P2) will be described.

[0060] Referring to FIGS. 6 and 7, the RGB-IR signal filtered by the dual-band pass filter (131) will be examined in more detail. FIG. 6 is a graph showing the characteristics of an RGB-IR signal and a dual-band pass filter according to one aspect of the present disclosure. FIG. 7 is a graph of the R component, G component, B component, and IR component of the dual-band pass-filtered RGB-IR signal.

[0061] (6-1) of Fig. 6 is a graph of an RGB-IR signal before being filtered by the dual band pass filter (131).

[0062] Figure 6 (6-2) is a characteristic graph of the dual band pass filter (131). The dual band pass filter (131) has a characteristic of passing signals in the visible light band and signals in the infrared band.

[0063] (6-3) of Fig. 6 is a graph of an RGB-IR signal after being filtered by the dual band pass filter (131).

[0064] The RGB-IR signal of (6-3) in Fig. 6 will be further explained with reference to Fig. 7.

[0065] Figures 7 (7-1), (7-2), (7-3), and (7-4) are graphs of the R component, G component, B component, and IR component of the RGB-IR signal after being filtered by the dual band pass filter (131), respectively.

[0066] However, it can be seen that the IR component values ​​are included in each of the R component, G component, and B component. That is, it can be seen that the IR component values ​​exist in virtually the same size in each of the R component, G component, and B component of the RGB-IR signal after being filtered by the dual band pass filter (131).

[0067] If the IR component value is subtracted from each of the R component, G component, and B component of the RGB-IR signal after being filtered by the above dual band pass filter (131), it can be seen that pure R component, G component, and B component without IR component can be obtained.

[0068] Image processing using this will be described with reference to FIGS. 8 and 9. FIGS. 8 and 9 are examples of image processing according to one aspect of the present disclosure.

[0069] The light emitting portion (120) of the above camera module (100) can irradiate patterned light toward a subject.

[0070] In addition, the left light-receiving unit (110L) and the right light-receiving unit (110R) of the camera module (100) can generate a left RGB-IR image signal (SlL) and a right RGB-IR image signal (S1R), respectively.

[0071] Since the image processing for the left RGB-IR image signal (SlL) and the right RGB-IR image signal (S1R) is the same, the explanation will be given without distinction between the left and right image signals.

[0072] The processor (130) of the camera module (100) can filter the RGB-IR image signal (SlL, S1R) using the dual band pass filter (131).

[0073] The above processor (130) can generate a first IR pixel signal (S4L, S4R) composed of only IR pixel signals from the filtered RGB-IR image signal (S6L, S6R), and can interpolate a portion corresponding to an RGB pixel in the first IR pixel signal (S4L, S4R) to generate a second IR pixel signal (S5L, S5R).

[0074] Next, the processor (130) can subtract the second IR pixel signal (S5L, S5R) from the filtered RGB-IR image signal (S6L, S6R) to generate a first RGB pixel signal (S7L, S7R) composed of only RGB pixel signals. This is as illustrated in FIG. 9.

[0075] Next, the processor (130) can interpolate a portion corresponding to an IR pixel in the first RGB pixel signal (S7L, S7R) to generate a second RGB pixel signal (S8L, S8R). The second RGB pixel signal (S8L, S8R) can correspond to the second RGB pixel signal (S3) of FIG. 4.

[0076] The above processor (130) may also perform dewarp processing to correct distorted portions due to lens characteristics for the second IR pixel signals (S5L, S5R) and the second RGB pixel signals (S8L, S8R). Through dewarp processing, three-dimensional depth information based on binocular parallax can be more accurately calculated.

[0077] Additionally, the processor (130) may also perform scaling and / or crop processing to match the resolution and / or size of the second IR pixel signal (S5L, S5R) and the second RGB pixel signal (S8L, S8R) with each other.

[0078] The generation of the visible light image (P2) and the infrared image (P3) (and the corresponding depth image (P4)) using the second IR pixel signals (S5L, S5R) and the second RGB pixel signals (S8L, S8R) will be further described with reference to FIG. 10. FIG. 10 is an example of image processing according to one aspect of the present disclosure.

[0079] The above processor (130) can generate a YUV image signal (S9) by converting the second RGB pixel signal (S8L, S8R) to YUV. The YUV image signal (S9) can include a left YUV image signal (S9L) corresponding to the second left RGB pixel signal (S8L) and a right YUV image signal (S9R) corresponding to the second right RGB pixel signal (S8R).

[0080] Since the image processing for the left YUV image signal (S9L) and the right YUV image signal (S9R) is the same, the explanation will be given without distinction between the left and right image signals.

[0081] Since it is well known to those skilled in the art that the above processor (130) can generate the visible light image (P2) using the YUV image signal (S9), a detailed description thereof will be omitted for the sake of brevity of the present disclosure.

[0082] However, no trace of pattern light is visible in the subject portion (R2) in the visible light image (P2). This is because the second IR pixel signal (S5L, S5R) is subtracted from the filtered RGB-IR image signal (S6L, S6R) as described in Fig. 9.

[0083] This also applies to the Y component image (P5) of the above YUV image signal (S9).

[0084] Meanwhile, in the infrared image (P3) according to the second IR pixel signal (S5L, S5R), the pattern light can still be seen in the subject portion (R2). The pattern light can be used as a reference for calculating three-dimensional depth information using binocular disparity.

[0085] However, when generating the 3D depth image using the second IR pixel signal (S5L, S5R), the resolution of the 3D depth image may be reduced. This is because, as described above, the portion corresponding to the RGB pixels in the first IR pixel signal (S4) is interpolated to generate the second IR pixel signal (S5L, S5R).

[0086] Therefore, in order to further increase the resolution of the 3D depth image, the processor (130) can generate the 3D depth image (P4) by blending the Y component image signal (S9Y) of the YUV image signal (S9) with the second IR pixel signals (S5L, S5R). In this case, the depth information of the texture-free subject portion (R1) can be accurate while the resolution of the 3D depth image (P4) can be increased. The second IR pixel signal (S5L, S5R) to which the Y component image signal (S9Y) is blended will be referred to as a third IR pixel signal (S10) for convenience. The third IR pixel signal (S10) may include a third left IR pixel signal (S10L) and a third right IR pixel signal (S10R).

[0087] The weights for each of the second IR pixel signals (S5L, S5R) and the Y component image signal (S9Y) for the above blending can be determined by a user's command or input input to the camera module (100).

[0088] Hereinafter, the generation of the visible light image (P2) using the YUV image signal (S9) and the generation of the three-dimensional depth image (P4) using the third IR pixel signal (S10) will be described further with reference to FIG. 11. FIG. 11 is an example of the generation of a visible light image and a three-dimensional depth image according to one aspect of the present disclosure.

[0089] The processor (130) can provide the YUV image signal (S9) to an external display (200). Accordingly, the visible light image (P2) according to the YUV image signal (S9) can be displayed on the external display (200).

[0090] Meanwhile, the processor (130) may further include a stereo engine (135). The stereo engine (135) generates a three-dimensional depth image (P4) based on the third IR pixel signal (S10), and the three-dimensional depth image (P4) may be provided to and displayed on the external display (200).

[0091] The above processor (130) can enable the visible light image (P2) and the 3D depth image (P4) to be displayed simultaneously on the external display (200).

[0092] Hereinafter, with reference to FIG. 12, image processing that can be performed in the camera module (100) according to one aspect of the present disclosure will be described. FIG. 12 is a flowchart of image processing of the camera module according to one aspect of the present disclosure.

[0093] The above camera module (100) can capture a subject and obtain a first RGB-IR signal (S1) [S1201].

[0094] The above camera module (100) can generate a second RGB-IR signal (S6) by dual band pass filtering the first RGB-IR signal (S1) [S1203].

[0095] The above camera module (100) can generate an IR signal (S5) from a second RGB-IR signal (S6) [S1204].

[0096] The above camera module (100) can generate an RGB signal (S8) by subtracting the IR signal (S5) from the second RGB-IR signal (S6) [S1205].

[0097] The above camera module (100) can convert the RGB signal (S8) into a YUV signal (S9) [S1207]. The YUV signal (S9) can be used to generate a visible light image (P2).

[0098] The above camera module (100) can blend the Y component signal (S9Y) of the YUV signal (S9) with the IR signal (S5) [S1209].

[0099] The above camera module (100) can generate a three-dimensional depth image (P4) using the IR signal (S10) blended with the Y component signal (S9Y) [S1211].

[0100] The present invention described above can be implemented as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., and also include media implemented in the form of carrier waves (e.g., transmission via the Internet).

[0101] Accordingly, the above detailed description should not be construed as limiting in all respects, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A light receiving unit having an RGB-IR sensor; and Generating a second IR signal based on the second RGB-IR signal acquired through the RGB-IR sensor, Generating a second RGB signal based on subtracting the second IR signal from the second RGB-IR signal, Generate a YUV signal based on the second RGB signal, A third IR signal is generated by blending the Y component signal of the YUV signal with the second IR signal, A camera module comprising a processor for generating a three-dimensional depth image signal based on a third IR signal.

2. In paragraph 1, the light receiving unit, A camera module characterized by including a left light receiving unit and a right light receiving unit.

3. In paragraph 1, A camera module further characterized by including a light emitting unit for irradiating infrared pattern light.

4. In the first paragraph, the processor, A camera module characterized in that it generates a second RGB-IR signal by dual band pass filtering a first RGB-IR signal acquired through the RGB-IR sensor.

5. In the fourth paragraph, the processor, A camera module characterized by generating a second IR signal by interpolating a first IR signal extracted from a second RGB-IR signal.

6. In the fifth paragraph, the processor, A camera module characterized in that a second RGB signal is generated by interpolating a first RGB signal generated by subtracting a second IR signal from a second RGB-IR signal.

7. In the 6th paragraph, the processor, A camera module characterized by performing dewarping processing on a second IR signal and a second RGB signal.

8. In the first paragraph, the processor, A camera module characterized by including a stereo engine for generating a three-dimensional depth image signal.

9. In paragraph 4, Further comprising a dual band pass filter for the above dual band pass filtering, A camera module characterized in that the above dual band pass filter has the characteristic of passing signals in the visible light band and signals in the infrared band.

10. In the first paragraph, the processor, A camera module characterized by generating a visible light image signal based on the above YUV signal.

11. A step of generating a second IR signal based on a second RGB-IR signal acquired through an RGB-IR sensor; A step of generating a second RGB signal based on subtracting a second IR signal from a second RGB-IR signal; A step of generating a YUV signal based on a second RGB signal; A step of generating a third IR signal by blending the Y component signal of the YUV signal with the second IR signal; and A method for controlling a camera module, comprising: a step of generating a three-dimensional depth image signal based on a third IR signal; 12. In paragraph 11, A control method for a camera module, characterized by comprising: a step of generating a second RGB-IR signal by performing dual band pass filtering on a first RGB-IR signal acquired through the RGB-IR sensor.

13. In paragraph 12, A method for controlling a camera module, comprising: a step of generating a second IR signal by interpolating a first IR signal extracted from a second RGB-IR signal; 14. In paragraph 13, A method for controlling a camera module, comprising: a step of generating a second RGB signal by interpolating a first RGB signal generated by subtracting a second IR signal from a second RGB-IR signal; 15. In paragraph 14, A method for controlling a camera module, characterized by comprising: a step of performing dewarping processing on a second IR signal and a second RGB signal.

Images