CN106657974B - Control method and device of binocular camera and binocular camera - Google Patents
Control method and device of binocular camera and binocular camera Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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Abstract
The invention discloses a control method and a control device of a binocular camera, which are used for solving the technical problem that the industrial-grade binocular camera in the prior art cannot realize long-distance measurement. The method comprises the following steps: controlling a left-eye camera and a right-eye camera to shoot the same target object to obtain a left-eye image and a right-eye image; extracting an R channel of the left eye image and a B channel of the right eye image, and superposing the R channel and the B channel; judging whether the target objects respectively displayed by the R channel and the B channel are overlapped in the longitudinal direction and the transverse direction; if yes, determining that optical axes of the left-eye camera and the right-eye camera are parallel; if not, the positions of the left-eye camera and the right-eye camera are indicated to be adjusted, and the steps are repeated until the optical axes of the left-eye camera and the right-eye camera are parallel. By adopting the technical scheme of the invention, the remote distance measurement can be realized.
Description
Technical Field
The present invention relates to the field of computers, and in particular, to a method for controlling a binocular camera, a device for controlling a binocular camera, and a binocular camera.
Background
Binocular range has been a hotspot in computer vision research, especially in the autopilot field, which is profound.
Currently, binocular distance is mainly achieved by using an existing industrial-grade binocular camera, which is a cast binocular stereo camera with a fixed binocular distance and a smaller size, and is typically a Bumblebee product, as shown in fig. 1.
Because the binocular distance of the industrial-grade binocular camera is fixed and the size is smaller, the baseline distance is small, and the baseline distance cannot be automatically adjusted, so that the long-distance measurement cannot be performed in practical application.
At present, no solution capable of better solving the technical problems is available.
Disclosure of Invention
In view of the above problems, the present invention provides a control method and apparatus for a binocular camera, so as to solve the technical problem that the industrial-grade binocular camera in the prior art cannot realize remote ranging.
In an embodiment of the present invention, in one aspect, a method for controlling a binocular camera is provided, including:
controlling a left-eye camera and a right-eye camera forming a binocular camera to shoot the same target object to obtain a left-eye image and a right-eye image; wherein, the distance between the left eye camera and the right eye camera is adjustable;
extracting an R channel of the left eye image and a B channel of the right eye image, and superposing the R channel and the B channel;
judging whether the target objects respectively displayed by the R channel and the B channel are overlapped in the longitudinal direction and the transverse direction;
if yes, determining that optical axes of the left-eye camera and the right-eye camera are parallel;
if not, the positions of the left-eye camera and the right-eye camera are indicated to be adjusted, and the steps are repeated until the optical axes of the left-eye camera and the right-eye camera are parallel.
In an embodiment of the present invention, in another aspect, there is provided a control device for a binocular camera, including:
the control unit is used for controlling a left-eye camera and a right-eye camera which form a binocular camera to shoot the same target object to obtain a left-eye image and a right-eye image; wherein the distance between the left eye camera and the right eye camera is adjustable;
the extraction unit is used for extracting an R channel of the left-eye image and a B channel of the right-eye image and superposing the R channel and the B channel;
the judging unit is used for judging whether the target objects respectively displayed by the R channel and the B channel are overlapped in the longitudinal direction and the transverse direction, if so, triggering the determining unit, and if not, triggering the first indicating unit;
a determining unit configured to determine that optical axes of the left-eye camera and the right-eye camera are parallel;
and the first indicating unit is used for indicating and adjusting the positions of the left-eye camera and the right-eye camera and triggering the control unit.
The embodiment of the invention also provides a binocular camera, which comprises a left-eye camera, a right-eye camera and a rigid connection structure comprising a slide rail or a clamping groove, wherein:
the left eye camera is fixed in a sliding rail or a clamping groove of the rigid connection structure through a cradle head;
the right-eye camera is fixed in the sliding rail or the clamping groove of the rigid connection structure through the cradle head.
According to the technical scheme, on one hand, the base line distance between the left-eye camera and the right-eye camera can be adjusted by adjusting the distance between the left-eye camera and the right-eye camera, and the base line distance of the binocular camera can be flexibly adjusted according to actual requirements, so that long-distance ranging is realized; on the other hand, the technical scheme of the invention can also adjust the optical axes of the left eye camera and the right eye camera to be parallel so as to improve the quality of the left eye image and the right eye image shot by the binocular camera.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a schematic diagram of a prior art industrial-grade binocular camera;
fig. 2A is a schematic structural diagram of a binocular camera according to a first embodiment of the present invention;
fig. 2B is a schematic structural diagram of a clamping groove in a binocular camera according to an embodiment of the present invention;
FIG. 3 is a flowchart of a control method of a binocular camera according to a second embodiment of the present invention;
FIG. 4 is a second flowchart of a control method of a binocular camera according to a second embodiment of the present invention;
FIG. 5 is a third flowchart of a control method of a binocular camera according to the second embodiment of the present invention;
FIG. 6 is a flowchart of a control method of a binocular camera according to a second embodiment of the present invention;
FIG. 7 is a flowchart of a control method of a binocular camera according to a second embodiment of the present invention;
FIG. 8 is a schematic diagram of a control device of a binocular camera according to a third embodiment of the present invention;
FIG. 9 is a second schematic diagram of a control device of a binocular camera according to a third embodiment of the present invention;
FIG. 10 is a third schematic diagram of a control device of a binocular camera according to a third embodiment of the present invention;
FIG. 11 is a fourth schematic diagram of a control device of a binocular camera according to the third embodiment of the present invention;
fig. 12 is a fifth schematic diagram of a control device of a binocular camera according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
Referring to fig. 2A, the structure diagram of the binocular camera provided in the embodiment of the present invention includes a left-eye camera 1, a right-eye camera 2, and a rigid connection structure 3, where the rigid connection structure 3 includes a sliding rail 31, and the left-eye camera 1 and the right-eye camera 2 are respectively fixed on the sliding rail 31 through their holders. The left eye camera 1 and the right eye camera 3 are fixed to the slide rail 31 by screws, for example.
In another embodiment, the sliding rail 31 may be replaced by a slot 32 as shown in fig. 2B.
Preferably, in order to ensure the quality of the images captured by the left-eye camera and the right-eye camera, in the embodiment of the present invention, the left-eye camera and the right-eye camera are cameras with the same hardware structure, for example, cameras with the same model of the same manufacturer.
Preferably, in order to further meet the requirements of different application scenes on recognition distance and recognition precision, the left-eye camera and the right-eye camera provided by the embodiment of the invention are cameras with interchangeable lenses, namely, the binocular camera provided by the embodiment of the invention can flexibly replace lenses with different resolutions and different focal lengths so as to meet the requirements of different application scenes.
According to the technical scheme, on one hand, the base line distance between the left-eye camera and the right-eye camera can be adjusted by adjusting the distance between the left-eye camera and the right-eye camera, and the base line distance of the binocular camera can be flexibly adjusted according to actual requirements, so that long-distance ranging is realized; on the other hand, the left-eye camera and the right-eye camera can flexibly replace lenses with different resolutions and different focal lengths, so that different application scenes are met.
Example two
Referring to fig. 3, a flowchart of a control method of a binocular camera according to an embodiment of the present invention is provided, where the method includes:
step S301, controlling a left-eye camera and a right-eye camera forming a binocular camera to shoot the same target object to obtain a left-eye image and a right-eye image; wherein, the distance between left eye camera and the right eye camera is adjustable.
Step S302, extracting an R channel (i.e. Red channel) of the left-eye image and a B channel (i.e. Blue channel) of the right-eye image, and superposing the R channel and the B channel.
Step S303, determining whether the target objects respectively displayed by the R channel and the B channel overlap in the longitudinal direction and the transverse direction, if so, executing step S304, and if not, executing step S305.
Step S304, determining that the optical axes of the left eye camera and the right eye camera are parallel.
And step S305, instructing to adjust the positions of the left-eye camera and the right-eye camera, and repeating the steps S301 to S303 until the optical axes of the left-eye camera and the right-eye camera are parallel.
Preferably, in the embodiment of the present invention, the left-eye camera and the right-eye camera are respectively fixed in a sliding rail or a clamping groove of the rigid connection structure through a pan-tilt, so as to adjust the baseline distance of the binocular camera by adjusting the distance between the left-eye camera and the right-eye camera. Therefore, the embodiment of the present invention may further include the following steps, as shown in fig. 4, before the step S301 of the method flow shown in fig. 3:
step S300A, receiving a position adjustment instruction carrying a target baseline distance;
step S300B, calculating the baseline distance between the left-eye camera and the right-eye camera after adjusting the positions of the left-eye camera and the right-eye camera in the sliding rail or the clamping groove respectively;
and step S300C, judging whether the baseline distances of the left-eye camera and the right-eye camera are the same as the target baseline distance, if not, indicating to continuously adjust the positions of the left-eye camera and the right-eye camera in the sliding rail or the clamping groove, and executing step S300B until the baseline distances of the left-eye camera and the right-eye camera are the same as the target baseline distance.
Preferably, in order to adapt to the requirements of recognition distance and recognition precision of the camera under different scenes, the embodiment of the invention can also realize flexible replacement of the lenses of the left-eye camera and the right-eye camera so as to adapt to different application scenes. The following steps S306A to S306C may be included in the method flow shown in the foregoing fig. 3 and 4. The steps S306A to S306C may be before the step 300A, before the step 301, or after the step 304, as shown in fig. 5, and the method flow shown in fig. 3 may further include the steps S306A to S306C, where:
step 306A, receiving a shooting request including an identification distance and an identification precision;
step 306B, selecting a target lens with resolution and focal length meeting the identification distance and the identification precision;
step 306C indicates that the left and right eye camera lenses are replaced with the target lens.
Preferably, in order to ensure the synchronicity of the images shot by the left-eye camera and the right-eye camera, the method of the embodiment of the present invention may further include the following step S307 in the method flows shown in the foregoing fig. 3, fig. 4 and fig. 5, and as shown in fig. 6, the method flow shown in the foregoing fig. 3 further includes step S307:
step S307, sending shooting instructions carrying exposure time, gain value and white balance value to the left-eye camera and the right-eye camera at the same time.
In the embodiment of the invention, the same shooting instruction can be sent to the left-eye camera and the right-eye camera at the same time, namely, the camera parameters (namely, exposure time, gain value and white balance value) carried by the shooting instructions sent to the left-eye camera and the right-eye camera are the same. Different shooting instructions can be sent to the left-eye camera and the right-eye camera at the same time, namely, the shooting instructions sent to the left-eye camera and the shooting instructions sent to the right-eye camera have different camera parameters.
Preferably, in some specific application scenarios, such as automatic driving, shooting is performed by a binocular camera in the vehicle driving process, and because the surrounding environments have large differences in the shooting process, the shooting is performed by adopting unified camera parameters, so that the differences in the quality of images shot by different environments are large. Therefore, in the embodiment of the present invention, the following steps S307 to S309 may be further included in the method flows shown in fig. 3, fig. 4, and fig. 5, as shown in fig. 7, and steps S307 to S309 may be further included on the basis of fig. 3, where:
step 308, receiving a first left-eye image and a first right-eye image which are respectively shot by the left-eye camera and the right-eye camera according to the shooting instruction;
step S309, calculating a first brightness of a first left-eye image and a second brightness of a first right-eye image by using a preset parameter control algorithm, and calculating an exposure time, a gain value and a white balance value of the left-eye camera and the right-eye camera for shooting the next image according to the first brightness and the second brightness, triggering the step S307, and simultaneously sending shooting instructions carrying the exposure time, the gain value and the white balance value to the left-eye camera and the right-eye camera to shoot the next image.
In the embodiment of the present invention, the specific implementation of the step S308 may include, but is not limited to, the following implementation manners:
mode 1, calculating exposure time, gain value and white balance value of the next image shot by the left-eye camera according to first brightness of the first left-eye image; and calculating the exposure time, the gain value and the white balance value of the next image shot by the right-eye camera according to the second brightness of the first right-eye image. At this time, in the foregoing step S307, the shooting instructions sent to the left-eye camera and the right-eye camera simultaneously carry different camera parameters, that is, the camera parameters adopted by the left-eye camera and the right-eye camera to shoot the next image are different, for example, the left-eye camera adopts the exposure time, the gain value and the white balance value calculated according to the first brightness, and the right-eye camera adopts the exposure time, the gain value and the white balance value calculated according to the second brightness.
Mode 2, calculating the average value of the first brightness and the second brightness to obtain target brightness; and calculating the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera according to the target brightness. At this time, in the aforementioned step S307, the same shooting instruction is transmitted to the left-eye camera and the right-eye camera at the same time, that is, the exposure time, the gain value, and the white balance value used for shooting the next image by the left-eye camera and the right-eye camera are the same.
Example III
Referring to fig. 8, a control device for a binocular camera according to a third embodiment of the present invention includes:
a control unit 81 for controlling a left-eye camera and a right-eye camera constituting a binocular camera to photograph the same target object, to obtain a left-eye image and a right-eye image; wherein the distance between the left eye camera and the right eye camera is adjustable;
an extracting unit 82, configured to extract an R channel of the left-eye image and a B channel of the right-eye image, and superimpose the R channel and the B channel;
a judging unit 83, configured to judge whether the target objects respectively displayed by the R channel and the B channel overlap in the longitudinal direction and the transverse direction, if so, trigger the determining unit 84, and if not, trigger the first indicating unit 85;
a determining unit 84 for determining that optical axes of the left-eye camera and the right-eye camera are parallel;
a first indication unit 85, configured to indicate and adjust the positions of the left-eye camera and the right-eye camera, and trigger the control unit 81.
Preferably, in the embodiment of the present invention, the left-eye camera and the right-eye camera are respectively fixed in a sliding rail or a clamping groove of the rigid connection structure through a pan-tilt, so as to adjust the baseline distance of the binocular camera by adjusting the distance between the left-eye camera and the right-eye camera. The left-eye camera and the right-eye camera are respectively fixed in a sliding rail or a clamping groove of the rigid connection structure through a cradle head; the apparatus further includes a first receiving unit 80A, a first calculating unit 80B, a second judging unit 80C, and a second indicating unit 80D, as shown in fig. 9:
a first receiving unit 80A for receiving a position adjustment instruction carrying a target baseline distance;
a first calculation unit 80B for calculating a baseline distance of the left-eye camera and the right-eye camera after adjusting positions of the left-eye camera and the right-eye camera in the slide rail or the card slot, respectively;
a second judging unit 80C, configured to judge whether the baseline distances of the left-eye camera and the right-eye camera are the same as the target baseline distance, and if they are not the same, trigger a second indicating unit 80D; if the same, the departure control unit 81;
the second indicating unit 80D is configured to indicate to continuously adjust the positions of the left-eye camera and the right-eye camera in the slide rail or the clamping groove, and trigger the first calculating unit 80B.
Preferably, in order to adapt to the requirements of recognition distance and recognition precision of the camera under different scenes, the embodiment of the invention can also realize flexible replacement of the lenses of the left-eye camera and the right-eye camera so as to adapt to different application scenes. In the embodiment of the present invention, the apparatus shown in fig. 8 and 9 may further include a second receiving unit 86A, a selecting unit 86B, and a third indicating unit 86C, as shown in fig. 10, where fig. 8 includes the foregoing three units, and the following is shown:
a second receiving unit 86A for receiving a photographing request including an identification distance and an identification accuracy;
a selecting unit 86B, configured to select a target lens with resolution and focal length satisfying the recognition distance and recognition accuracy;
a third indication unit 86C for indicating that the left-eye camera lens and the right-eye camera lens are replaced with the target lens.
Preferably, in order to ensure synchronicity of the images captured by the left-eye camera and the right-eye camera, the foregoing fig. 8 to 10 may further include a transmitting unit 87, as shown in fig. 11, and in fig. 8, the transmitting unit 87 may further include:
and a transmitting unit 87 for simultaneously transmitting shooting instructions carrying the exposure time, the gain value and the white balance value to the left-eye camera and the right-eye camera.
In the embodiment of the present invention, the sending unit 87 may send the same shooting instruction to the left-eye camera and the right-eye camera at the same time, that is, the camera parameters (that is, the exposure time, the gain value and the white balance value) carried by the shooting instructions sent to the left-eye camera and the right-eye camera are the same. Different shooting instructions can be sent to the left-eye camera and the right-eye camera at the same time, namely, the shooting instructions sent to the left-eye camera and the shooting instructions sent to the right-eye camera have different camera parameters.
Preferably, in some specific application scenarios, such as automatic driving, shooting is performed by a binocular camera in the vehicle driving process, and because the surrounding environments have large differences in the shooting process, the shooting is performed by adopting unified camera parameters, so that the differences in the quality of images shot by different environments are large. In fig. 8 to 10, the foregoing system may further include a transmitting unit 87, a third receiving unit 88, and a second calculating unit 89, as shown in fig. 12, and in fig. 8, the foregoing units are further included, where:
a third receiving unit 88 for receiving a first left-eye image and a first right-eye image photographed by the left-eye camera and the right-eye camera according to the photographing instruction, respectively;
a second calculating unit 89, configured to calculate a first luminance of the first left-eye image and a second luminance of the first right-eye image by using a preset parameter control algorithm, calculate an exposure time, a gain value, and a white balance value of the left-eye camera and the right-eye camera for shooting a next image according to the first luminance and the second luminance, and trigger the transmitting unit 87.
In an embodiment of the present invention, the second computing unit 89 may be implemented in the following ways:
mode 1, calculating exposure time, gain value and white balance value of the next image shot by the left-eye camera according to first brightness of the first left-eye image; and calculating the exposure time, the gain value and the white balance value of the next image shot by the right-eye camera according to the second brightness of the first right-eye image. At this time, the foregoing sending unit 87 sends the shooting instructions to the left-eye camera and the right-eye camera simultaneously to carry different camera parameters, that is, the camera parameters adopted by the left-eye camera and the right-eye camera to shoot the next image are different, for example, the left-eye camera adopts the exposure time, the gain value and the white balance value calculated according to the first brightness, and the right-eye camera adopts the exposure time, the gain value and the white balance value calculated according to the second brightness.
Mode 2, calculating the average value of the first brightness and the second brightness to obtain target brightness; and calculating the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera according to the target brightness. At this time, the foregoing transmitting unit 87 transmits the same photographing instruction to the left-eye camera and the right-eye camera at the same time, that is, the exposure time, gain value, and white balance value employed by the left-eye camera and the right-eye camera to photograph the next image are the same.
According to the binocular camera control method and device provided by the embodiment of the invention, on one hand, the baseline distance between the left-eye camera and the right-eye camera can be adjusted by adjusting the distance between the left-eye camera and the right-eye camera, and the baseline distance of the binocular camera can be flexibly adjusted according to actual requirements, so that long-distance ranging is realized; on the other hand, the technical scheme of the invention can also adjust the optical axes of the left eye camera and the right eye camera to be parallel so as to improve the quality of the left eye image and the right eye image shot by the binocular camera; on the other hand, the left-eye camera and the right-eye camera can flexibly replace lenses with different resolutions and different focal lengths, so that different application scenes are met.
The foregoing is the core idea of the present invention, and in order to enable those skilled in the art to better understand the technical solution in the embodiment of the present invention and make the foregoing objects, features and advantages of the embodiment of the present invention more obvious and understandable, the technical solution in the embodiment of the present invention is described in further detail below with reference to the accompanying drawings.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. A control method of a binocular camera for a vehicle, wherein a distance between a left-eye camera and a right-eye camera constituting the binocular camera is adjustable to achieve a long distance measurement in an automatic driving process of the vehicle, and the left-eye camera and the right-eye camera are respectively fixed in a slide rail or a clamping groove of a rigid connection structure through a pan-tilt, the method comprising:
controlling the left-eye camera and the right-eye camera to shoot the same target object to obtain a left-eye image and a right-eye image;
extracting an R channel of the left eye image and a B channel of the right eye image, and superposing the R channel and the B channel;
judging whether the target objects respectively displayed by the R channel and the B channel are overlapped in the longitudinal direction and the transverse direction;
if yes, determining that optical axes of the left-eye camera and the right-eye camera are parallel;
if not, indicating to adjust the positions of the left-eye camera and the right-eye camera, repeating the steps until the optical axes of the left-eye camera and the right-eye camera are parallel,
the method further comprises the steps of:
receiving a position adjustment instruction carrying a target baseline distance;
calculating a baseline distance of the left-eye camera and the right-eye camera after adjusting positions of the left-eye camera and the right-eye camera in the slide rail or the clamping groove respectively;
judging whether the baseline distance between the left eye camera and the right eye camera is the same as the target baseline distance, if not, indicating to continuously adjust the positions of the left eye camera and the right eye camera in the sliding rail or the clamping groove until the baseline distance between the left eye camera and the right eye camera is the same as the target baseline distance,
the method further comprises the steps of:
receiving a first left-eye image and a first right-eye image which are shot by the left-eye camera and the right-eye camera according to shooting instructions respectively;
calculating a first brightness of the first left-eye image and a second brightness of the first right-eye image using a preset parameter control algorithm,
calculating the average value of the first brightness and the second brightness to obtain target brightness;
and calculating the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera according to the target brightness, wherein the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera are the same.
2. The method as recited in claim 1, further comprising:
receiving a shooting request containing an identification distance and an identification precision;
selecting a target lens with resolution and focal length meeting the identification distance and the identification precision;
indicating that the left and right eye camera lenses are replaced with the target lens.
3. The method according to any one of claims 1-2, further comprising:
and simultaneously sending shooting instructions carrying exposure time, gain value and white balance value to the left-eye camera and the right-eye camera.
4. A control device of a binocular camera for a vehicle, wherein a distance between a left-eye camera and a right-eye camera constituting the binocular camera is adjustable to achieve a long distance measurement in an automatic driving process of the vehicle, and the left-eye camera and the right-eye camera are respectively fixed in a slide rail or a clamping groove of a rigid connection structure through a pan-tilt, the device comprising:
the control unit is used for controlling the left-eye camera and the right-eye camera to shoot the same target object to obtain a left-eye image and a right-eye image;
the extraction unit is used for extracting an R channel of the left-eye image and a B channel of the right-eye image and superposing the R channel and the B channel;
the judging unit is used for judging whether the target objects respectively displayed by the R channel and the B channel are overlapped in the longitudinal direction and the transverse direction, if so, triggering the determining unit, and if not, triggering the first indicating unit;
a determining unit configured to determine that optical axes of the left-eye camera and the right-eye camera are parallel;
the first indication unit is used for indicating and adjusting the positions of the left-eye camera and the right-eye camera and triggering the control unit;
the first receiving unit is used for receiving a position adjustment instruction carrying a target baseline distance;
a first calculation unit for calculating a baseline distance of the left-eye camera and the right-eye camera after adjusting positions of the left-eye camera and the right-eye camera in the slide rail or the clamping groove, respectively;
the second judging unit is used for judging whether the baseline distance between the left-eye camera and the right-eye camera is the same as the target baseline distance, and triggering a second indicating unit if the baseline distance is not the same as the target baseline distance;
the second indicating unit is used for indicating to continuously adjust the positions of the left-eye camera and the right-eye camera in the sliding rail or the clamping groove and triggering the first calculating unit;
the second receiving unit is used for receiving a first left-eye image and a first right-eye image which are shot by the left-eye camera and the right-eye camera according to shooting instructions respectively;
and the second calculation unit is used for calculating the first brightness of the first left-eye image and the second brightness of the first right-eye image by using a preset parameter control algorithm, calculating the average value of the first brightness and the second brightness to obtain target brightness, and calculating the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera according to the target brightness, wherein the exposure time, the gain value and the white balance value of the next image shot by the left-eye camera and the right-eye camera are the same.
5. The apparatus as recited in claim 4, further comprising:
a third receiving unit for receiving a photographing request including an identification distance and an identification precision;
the selecting unit is used for selecting a target lens with resolution and focal length meeting the identification distance and the identification precision;
and a third indication unit for indicating that the left-eye camera lens and the right-eye camera lens are replaced by the target lens.
6. The apparatus according to any one of claims 4 to 5, further comprising:
and the sending unit is used for sending shooting instructions carrying the exposure time, the gain value and the white balance value to the left-eye camera and the right-eye camera simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108909.2A CN106657974B (en) | 2017-02-27 | 2017-02-27 | Control method and device of binocular camera and binocular camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108909.2A CN106657974B (en) | 2017-02-27 | 2017-02-27 | Control method and device of binocular camera and binocular camera |
Publications (2)
| Publication Number | Publication Date |
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| CN106657974A CN106657974A (en) | 2017-05-10 |
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| CN108931877A (en) * | 2017-05-27 | 2018-12-04 | 北京图森未来科技有限公司 | A kind of binocular camera |
| US11158088B2 (en) | 2017-09-11 | 2021-10-26 | Tusimple, Inc. | Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment |
| CN109493387B (en) * | 2017-09-11 | 2021-01-05 | 北京图森未来科技有限公司 | Method and device for aligning optical axes of multiple cameras |
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