CN110266394B - Adjusting method, terminal and computer readable storage medium - Google Patents
Adjusting method, terminal and computer readable storage medium Download PDFInfo
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- CN110266394B CN110266394B CN201910496583.4A CN201910496583A CN110266394B CN 110266394 B CN110266394 B CN 110266394B CN 201910496583 A CN201910496583 A CN 201910496583A CN 110266394 B CN110266394 B CN 110266394B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/564—Power control
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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
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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
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
Abstract
The application discloses a method of adjustment. The adjusting method comprises the following steps: acquiring infrared interference energy of a current scene; when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and when the infrared interference energy is larger than a second preset value, emitting laser with second optical power, wherein the first preset value is smaller than the second preset value, and the second optical power is larger than the first optical power. The application also discloses a terminal and a computer readable storage medium, wherein the terminal transmits laser with first optical power by acquiring the infrared interference energy of the current scene when the infrared interference energy is less (less than a first preset value); and when the infrared interference energy is more (greater than a second preset value), the laser is emitted at a second optical power greater than the first optical power, the ratio of the emitted laser to the infrared interference energy is improved, the signal-to-noise ratio is improved, and therefore the acquisition precision of the depth image is improved.
Description
Technical Field
The present application relates to the field of three-dimensional imaging technology, and more particularly, to an adjustment method, a terminal, and a computer-readable storage medium.
Background
The depth camera can be arranged on an electronic device such as a mobile phone and the like to acquire the depth of a target object, and the specific mode is to control the depth camera to emit laser to the target object, receive the laser reflected by the target object by the depth camera, and acquire a depth image of the target object by comparing the received laser pattern with the reference pattern. Most depth cameras adopt laser with a wavelength of 940 nanometers (nm) for emission, infrared light with the wavelength of 940nm may exist in different environments (such as indoors or outdoors), and the optical receiver receives the laser with the wavelength of 940nm emitted by the depth camera and infrared light with the wavelength of 940nm in the environment, which affects the acquisition accuracy of depth images.
Disclosure of Invention
The embodiment of the application provides an adjusting method, a terminal and a computer readable storage medium.
The adjusting method of the embodiment of the application comprises the following steps: acquiring infrared interference energy of a current scene; when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and when the infrared interference energy is larger than a second preset value, emitting laser with second optical power, wherein the first preset value is smaller than the second preset value, and the second optical power is larger than the first optical power.
In some embodiments, the capturing infrared interference energy comprises: when the laser is not emitted, acquiring an infrared image of the current scene; and calculating the infrared interference energy according to the infrared image.
In some embodiments, said calculating said infrared interference energy from said infrared image comprises: acquiring a pixel value of a pixel in the infrared image; and determining the infrared interference energy according to the pixel value.
In some embodiments, the capturing infrared interference energy comprises: emitting laser light at a first operating frequency; receiving laser light at a second working frequency and generating an infrared image, wherein the second frequency is greater than the first frequency; acquiring an infrared interference image of the laser not including the first working frequency in the infrared image; and calculating the infrared interference energy according to the infrared interference image.
In some embodiments, the lasing at the first optical power comprises: emitting laser light at a first frequency, a first pulse width, and the first optical power; the emitting laser light at a second optical power includes: and emitting laser light at a second frequency, a second pulse width and the second optical power, wherein the product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power.
In certain embodiments, the first predetermined value is less than the second predetermined value, the adjustment method further comprising: when the infrared interference energy is larger than the first preset value and smaller than the second preset value, the current optical power is kept to continuously emit laser.
In some embodiments, the second optical power comprises one or more sub-optical powers, the lasing at the second optical power comprising: determining the corresponding sub-optical power according to the infrared interference energy; and emitting laser light with the sub-optical power.
The terminal packet processor and the optical transmitter of the embodiment of the application. The processor is used for acquiring infrared interference energy of the current scene. The light emitter is used for emitting laser light with first light power when the infrared interference energy is smaller than a first preset value, and emitting laser light with second light power when the infrared interference energy is larger than a second preset value, wherein the first preset value is smaller than or equal to the second preset value, and the second light power is larger than the first light power.
In some embodiments, the terminal further comprises a light receiver for acquiring an infrared image of the current scene when the light emitter is not emitting laser light; the processor is used for calculating the infrared interference energy according to the infrared image.
In some embodiments, the processor is further configured to: acquiring a pixel value of a pixel in the infrared image; and determining the infrared interference energy according to the pixel value.
In some embodiments, the terminal further comprises an optical receiver, the optical transmitter further for emitting laser light at a first operating frequency; the optical receiver is used for receiving laser at a second working frequency and generating an infrared image, and the second frequency is greater than the first frequency; the processor is used for acquiring an infrared interference image which does not include the laser with the first working frequency in the infrared image and calculating the infrared interference energy according to the infrared interference image.
In some embodiments, the optical transmitter is further configured to lase at a first frequency, a first pulse width, and the first optical power, and lase at a second frequency, a second pulse width, and the second optical power; the product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power.
In some embodiments, the first predetermined value is less than the second predetermined value, and the optical transmitter is further configured to maintain the current optical power to continuously emit laser light when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value.
In some embodiments, the second optical power includes one or more sub-optical powers, and the terminal further includes a processor configured to determine the corresponding sub-optical power according to the infrared interference energy; the optical transmitter is also used for transmitting laser light with the third optical power.
A non-transitory computer-readable storage medium of embodiments of the present application contains computer-readable instructions that, when executed by a processor, cause the processor to perform the tuning method of embodiments of the present application.
According to the adjusting method, the terminal and the computer readable storage medium, by acquiring the infrared interference energy of the current scene, when the infrared interference energy is less (less than a first preset value), the laser is emitted at the first light power less than the second light power, so that the power consumption can be reduced while the acquisition precision of the depth image is ensured; and when the infrared interference energy is more (greater than a second preset value), the laser is emitted at a second optical power greater than the first optical power, the ratio of the emitted laser to the infrared interference energy is improved, the signal-to-noise ratio is improved, and therefore the acquisition precision of the depth image is improved.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a terminal according to an embodiment of the present application;
fig. 2 is a system architecture diagram of a terminal according to an embodiment of the present application;
FIG. 3 is a schematic flow diagram of a conditioning method according to an embodiment of the present application;
FIG. 4 is a timing diagram of the depth camera projecting laser light and capturing images according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a scenario of an adjustment method according to an embodiment of the present application;
fig. 6A and 6B are schematic flow charts of an adjustment method according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of a conditioning method according to an embodiment of the present application;
FIG. 8 is a timing diagram of the depth camera projecting laser light and capturing images according to an embodiment of the present disclosure;
fig. 9 to 11 are schematic flow charts of the adjustment method of the embodiment of the present application; and
FIG. 12 is a schematic diagram of an interaction between a non-volatile computer-readable storage medium and a processor according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.
In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, a terminal 10 according to an embodiment of the present disclosure includes a housing 15, a depth camera 11, and a processor 12. The terminal 10 may be a mobile phone, a tablet computer, a notebook computer, a smart watch, etc., and the description of the application takes the terminal 10 as a mobile phone as an example, it is understood that the specific form of the terminal 10 is not limited to a mobile phone.
Both the depth camera 11 and the processor 12 may be mounted on the housing 15. The housing 15 includes a front surface 151 and a back surface 152, and the front surface 151 is opposite to the back surface 152. The front face 151 may also be used to mount the display 14, and the display 14 may be used to display images, text, etc. The depth camera 11 may be mounted on the front face 151 to facilitate self-photographing or video calling, etc.; the depth camera 11 may also be mounted on the rear face 152 to facilitate capturing of the scene and others; in addition, the depth camera 11 that can be independently operated may be attached to both the front surface 151 and the rear surface 152.
The depth camera 11 includes an optical transmitter 111 and an optical receiver 112. The light emitter 111 of the depth camera 11 may emit laser light, such as infrared laser light, which is reflected after reaching the object in the scene, the reflected laser light may be received by the light receiver 112, and the processor 12 may calculate the depth information of the object according to the laser light emitted by the light emitter 111 and the laser light received by the light receiver 112. In one example, the depth camera 11 may acquire depth information through a Time of flight (TOF) ranging method, and in another example, the depth camera 11 may acquire depth information through a structured light ranging principle. The present specification describes an example in which the depth camera 11 acquires depth information by the structured light distance measurement principle.
In the example shown in FIG. 1, the depth camera 11 is mounted to the back 152 of the housing 15. It is understood that the depth camera 11 mounted on the back surface 152 (i.e. the rear depth camera 11) needs to be used normally for shooting distant objects, and therefore, the optical power of the laser light that needs to be emitted by the light emitter 111 needs to be set to be larger in order to obtain the depth information with high accuracy.
The terminal 10 may further include a visible light camera 13, and specifically, the visible light camera 13 may include a telephoto camera and a wide-angle camera, or the visible light camera 13 may include a telephoto camera, a wide-angle camera, and a periscopic camera. The visible light camera 13 may be disposed close to the depth camera 11, for example, the visible light camera 13 may be disposed between the light emitter 111 and the light receiver 112, so that the light emitter 111 and the light receiver 112 have a longer distance therebetween, thereby increasing a base line (base line) length of the depth camera 11 and improving accuracy of obtaining the depth information.
Referring to fig. 2, both the optical transmitter 111 and the optical receiver 112 are connected to the processor 12. The processor 12 may provide the enabling signal for the optical transmitter 111, and specifically, the processor 12 may provide the enabling signal for the driver 16, wherein the driver 16 is used for driving the optical transmitter 111 to emit the laser light. The optical receiver 112 is connected to the processor 12 via an I2C bus. When the optical receiver 112 is used in conjunction with the optical transmitter 111, in one example, the optical receiver 112 may control the projection timing of the optical transmitter 111 through a Strobe signal (Strobe signal), wherein the Strobe signal is generated according to the timing at which the optical receiver 112 acquires the captured image, the Strobe signal can be regarded as an electric signal with alternating high and low levels, and the optical transmitter 111 projects laser light according to the laser projection timing indicated by the Strobe signal. Specifically, the processor 12 may send an image capture instruction through the I2C bus to enable the depth camera 11 to operate, after receiving the image capture instruction, the optical receiver 112 controls the switching device 17 through the Strobe signal, if the Strobe signal is at a high level, the switching device 17 sends a pulse signal (pwn) to the driver 16, the driver 16 drives the optical transmitter 111 to project laser into the scene according to the pulse signal, if the Strobe signal is at a low level, the switching device 17 stops sending the pulse signal to the driver 16, and the optical transmitter 111 does not project laser; alternatively, when the Strobe signal is at a low level, the switching device 17 may transmit a pulse signal to the driver 16, the driver 16 may drive the light emitter 111 to project laser light into the scene according to the pulse signal, and when the Strobe signal is at a high level, the switching device 17 may stop transmitting the pulse signal to the driver 16, and the light emitter 111 may not project laser light.
In another example, the Strobe signal may not be needed when the optical receiver 112 and the optical transmitter 111 are matched, in this case, the processor 12 sends an image capturing instruction to the optical receiver 112 and simultaneously sends a laser projecting instruction to the driver 16, the optical receiver 112 starts to acquire a captured image after receiving the image capturing instruction, and the driver 16 drives the optical transmitter 111 to project laser when receiving the laser projecting instruction. When the light emitter 111 projects laser light, the laser light forms a laser light pattern with spots that are projected on objects in the scene. The light receiver 112 collects the laser pattern reflected by the object to obtain a speckle image, and transmits the speckle image to the Processor 12 through a Mobile Industry Processor 12 Interface (MIPI). The processor 12 receives a data stream every time the optical receiver 112 sends a frame of speckle image to the processor 12. The processor 12 may perform the calculation of depth information based on the speckle images and reference images pre-stored in the processor 12.
Referring to fig. 1 to 3, a tuning method according to an embodiment of the present invention may be used to control the terminal 10, and the tuning method includes the following steps:
301: acquiring infrared interference energy of a current scene;
302: when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and
303: and when the infrared interference energy is larger than a second preset value, emitting laser with second optical power, wherein the first preset value is smaller than the second preset value, and the second optical power is larger than the first optical power.
The processor 12 of the embodiment of the present application is configured to obtain infrared interference energy of a current scene. The light emitter 111 is configured to emit laser light with a first optical power when the infrared interference energy is smaller than a first predetermined value, and emit laser light with a second optical power when the infrared interference energy is larger than a second predetermined value, where the first predetermined value is smaller than or equal to the second predetermined value, and the second optical power is larger than the first optical power. That is, step 301 may be implemented by processor 12, and steps 302 and 303 may be implemented by optical transmitter 111.
Specifically, the optical receiver 112 may be used to receive infrared interference energy of the current scene; in one example, the terminal 10 further includes a distance sensor 18, the distance sensor 18 includes an infrared transmitter 181 and an infrared receiver 182, the infrared transmitter 181 cooperates with the infrared receiver 182 to perform a ranging function by using a TOF ranging principle, the infrared transmitter 181 transmits infrared light to a target object, the infrared receiver 182 receives the infrared light reflected by the target object, and the processor 12 calculates a distance to the target object according to a time difference between the infrared light transmitted from the infrared transmitter 181 and the infrared light received by the infrared receiver 182. The infrared receiver 182 of the distance sensor 18 may be used to gather infrared interference energy to acquire the current scene. The processor 12 may be used to obtain infrared interference energy collected by the infrared receiver 182. The infrared receiver 182 is configured to receive infrared light with a specific wavelength (for example, wavelength 940nm) in a current scene to generate a corresponding voltage value, an amount of the infrared light received by the infrared receiver 182 within a predetermined time is the infrared interference energy, and correspondingly, the processor 12 integrates the voltage value within the predetermined time to obtain a total voltage value corresponding to the infrared interference energy, so as to determine the magnitude of the infrared interference energy according to the total voltage value. The distance sensor 18 consumes less power than the depth camera 11 and requires less power to measure the infrared interference energy of the current scene.
The predetermined time may be the same as the frame exposure time of the depth camera 11, and the frame exposure time is a time required for the light receiver 112 to receive infrared light when the depth camera 11 generates one frame of speckle image. As shown in fig. 4, the optical transmitter 111 transmits the infrared laser light to the current scene in a pulse form (as shown in fig. 4, the transmission waveform S1 and the transmission waveform S2, the transmission waveform S1 corresponds to the first optical power, and the transmission waveform S2 corresponds to the second optical power), the optical receiver 112 receives the infrared light reflected by the current scene according to the gating waveform C1, as shown in the gating waveform C1 in fig. 4, the optical receiver 112 continues to receive the infrared light for a high level duration, and stops receiving the infrared light for a low level duration, as one frame including one or more high levels and one or more low levels, and the frame exposure time is the sum of the durations of the high level and the low level within one frame.
It is understood that the larger the infrared interference energy, the more infrared light (hereinafter referred to as background infrared light) having a wavelength of 940nm in the environment is represented. When the depth camera 11 receives infrared light to generate a speckle image, the infrared light with a wavelength of 940nm emitted by the light emitter 111 is received, and background infrared light is also received, and the background infrared light is noise, which affects the accuracy of the generated speckle image and further affects the accuracy of the finally generated depth image.
Referring to fig. 5, since the infrared light with a wavelength of 940nm in the environment generally comes from the sunlight, there is substantially no background infrared light in the room (see (a) in fig. 5), the light received by the light receiver 112 is substantially the laser light L1 emitted by the light emitter 111, and the background infrared light L2 is less. And more background infrared light L2 is emitted outdoors by direct sunlight (as shown in fig. 5 (b)), the light received by the light receiver 112 includes more background infrared light L2 in addition to the laser light L1 emitted by the light emitter 111, and the brighter the outdoor sunlight is, the more background infrared light L2 is. After obtaining the magnitude of the infrared interference energy, processor 12 may determine whether the infrared interference energy is less than a first predetermined value.
The first predetermined value may be determined by detecting infrared interference energy in rooms of a large number of houses (such as buildings, single houses, etc.), for example, taking the average of infrared interference energy in all detected houses as the first predetermined value. Thereby ensuring the accuracy of the first predetermined value.
Referring to fig. 4 and 5, the optical power generally relates to only the amplitude of light, and when the infrared interference energy is less than or equal to the first predetermined value, the processor 12 may determine that the depth camera 11 is currently in the indoor environment and the background infrared light is less, so as to control the light emitter 111 to emit the laser with the first optical power, such as the amplitude H1 of the background infrared light and the amplitude H2 corresponding to the first optical power shown in fig. 4, where the difference between the two is larger, and a higher signal-to-noise ratio may be achieved (e.g., the signal-to-noise ratio is ensured to be greater than 80%). The first optical power is measured in a room containing infrared interference energy corresponding to the first predetermined value before leaving the factory, so that the determined optical power is smaller in value and higher in signal-to-noise ratio, and therefore, the accuracy of the generated depth image is not affected when the depth camera 11 emits laser light at the first optical power, and the power consumption of the terminal 10 can be reduced.
When the infrared interference energy is greater than the first predetermined value, the processor 12 determines whether the infrared interference energy is greater than or equal to a second predetermined value, which is greater than the first predetermined value. The second predetermined value is similar to the first predetermined value, and the average infrared interference energy in the sunlight with different intensities can be used as the second predetermined value by detecting the infrared interference energy in the sunlight with different intensities (such as cloudy days and sunny days), or the maximum infrared interference energy in the sunlight with different intensities (such as the infrared interference energy in a strong light environment) can be used as the second predetermined value.
When the infrared interference energy is greater than or equal to the second predetermined value, the processor 12 may determine that the depth camera 11 is currently located in an outdoor environment and has more background ambient light, and if the laser is still emitted at the first optical power, the difference between H2 and H1 is smaller, which may result in a larger percentage of background infrared light (i.e., a lower signal-to-noise ratio) in the infrared light received by the optical receiver 112. Accordingly, the processor 12 may control the light emitter 111 to emit laser light at a second optical power greater than the first optical power, such as the amplitude H1 of the background infrared light and the amplitude H3 corresponding to the second optical power shown in fig. 4, and the difference between the two may achieve a higher signal-to-noise ratio (e.g., ensure that the signal-to-noise ratio is greater than 80%). The second optical power is measured outdoors before shipment, where the infrared interference energy is included in accordance with a second predetermined value, to determine the optical power having a high signal-to-noise ratio. If the second optical power can ensure that the signal-to-noise ratio is more than 80%, the acquisition precision of the depth image in the outdoor environment can be ensured. In addition, when the current time is at night, there is only a small amount of infrared light having a wavelength of 940nm both indoors and outdoors, so that when the current time is at night, the terminal 10 is still regarded as being indoors even in an outdoor environment, and the depth camera 11 emits laser light at the first optical power.
In summary, the adjusting method and the terminal 10 in the embodiments of the present application, by acquiring the infrared interference energy of the current scene, when the infrared interference capability is less (smaller than the first predetermined value), emit the laser at the first optical power smaller than the second optical power, which can reduce power consumption while ensuring the accuracy of acquiring the depth image; and when the infrared interference energy is more (greater than a second preset value), the laser is emitted at a second optical power greater than the first optical power, the ratio of the emitted laser to the infrared interference energy is improved, the signal-to-noise ratio is improved, and therefore the acquisition precision of the depth image is improved.
Referring to fig. 6A, in some embodiments, the adjusting method includes:
601: when the laser is not emitted, acquiring an infrared image of the current scene;
602: calculating infrared interference energy according to the infrared image;
603: when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and
604: and when the infrared interference energy is larger than a second preset value, emitting laser with second optical power, wherein the first preset value is smaller than the second preset value, and the second optical power is larger than the first optical power.
Referring to fig. 1 and 6A, in some embodiments, the processor 12 is further configured to obtain an infrared image of the current scene when the laser is not emitted; and calculating the infrared interference energy according to the infrared image. That is, step 601 and step 602 may be the sub-steps of step 301 described above, and step 601 and step 602 may be implemented by processor 12.
The contents and specific implementation details of step 603 and step 604 in fig. 6A may refer to the description of step 302 and step 303 in this application description, and are not repeated herein.
In particular, the light receiver 112 may also be the light receiver 112 of the depth camera 11. The optical receiver 112 of the depth camera 11 cooperates with the optical transmitter 111 to acquire a depth image. The light receiver 112 can acquire background infrared light in the current scene to form an infrared image when the light emitter 111 does not emit laser light, and the processor 12 can determine the magnitude of the infrared interference energy of the current scene according to the infrared image, and the infrared image can be generated by the infrared light acquired within one frame exposure time. In this way, the optical receiver 112 of the depth camera 11 may obtain the infrared interference energy of the current scene when the optical transmitter 111 does not emit laser light, and the depth camera 11 may obtain the depth image, so as to obtain the depth of the target object, without separately providing the distance sensor 18, so as to obtain the infrared interference energy and the depth of the target object, thereby reducing the size and the manufacturing cost of the terminal 10.
Referring to fig. 6A and 6B, in some embodiments, step 602: calculating infrared interference energy according to the infrared image, and specifically comprising the following substeps:
6021: acquiring a pixel value of a pixel in an infrared image; and
6022: the infrared interference energy is determined from the pixel values.
Referring to fig. 1 and 6B, in some embodiments, the processor 12 is configured to obtain pixel values of pixels in the infrared image; and determining infrared interference energy according to the pixel value. That is, steps 6021 and 6022 may be sub-steps of step 602, and steps 6021 and 6022 may be implemented by processor 12.
Specifically, after the processor 12 acquires the infrared image acquired by the depth camera 11, the pixel values of all pixels of the infrared image are acquired first, and it can be understood that the more infrared light is received by each pixel, the larger the corresponding pixel value is. The processor 12 may determine the infrared interference energy of the current scene according to an average value of pixel values of all pixels as a pixel value corresponding to the infrared interference energy of the current scene. For example, there is a one-to-one correspondence between the pixel values and the infrared interference energy, that is, each pixel value corresponds to one infrared interference energy, the correspondence forms a mapping table, the mapping table is pre-stored in the memory 19 of the terminal 10, and after the processor 12 calculates an average value of all pixels of the infrared image, the mapping table is queried to determine the infrared interference energy corresponding to the average value. Therefore, the infrared interference energy of the current scene can be rapidly calculated.
Referring to fig. 7, in some embodiments, the adjusting method further includes:
701: emitting laser light at a first operating frequency;
702: receiving laser at a second working frequency and generating an infrared image, wherein the second frequency is greater than the first frequency;
703: acquiring an infrared interference image of the laser not including the first working frequency in the infrared image;
704: calculating infrared interference energy according to the infrared interference image;
705: when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and
706: and when the infrared interference energy is larger than a second preset value, emitting laser light with second light power, wherein the first preset value is smaller than the second preset value.
Referring to fig. 1 and 7, in some embodiments, the optical transmitter 111 is further configured to transmit laser light at a first operating frequency; the optical receiver 112 is used for receiving the laser light at a second working frequency and generating an infrared image, wherein the second frequency is greater than the first frequency; the processor 12 is configured to obtain an infrared interference image of the laser not including the first working frequency in the infrared image, and calculate an infrared interference energy according to the infrared interference image; the optical transmitter 111 is further configured to emit laser light at a first optical power when the infrared interference energy is less than a first predetermined value, and to emit laser light at a second optical power when the infrared interference energy is greater than a second predetermined value, where the first predetermined value is less than the second predetermined value. That is, steps 701, 702, 703 and 704 may be sub-steps of acquiring infrared interference energy, and steps 701, 705 and 706 may be implemented by the optical transmitter 111, step 702 may be implemented by the optical receiver 112, and steps 703 and 704 may be implemented by the processor 12.
The content and specific implementation details of step 705 and step 706 in fig. 7 may refer to the description of step 302 and step 303 in this specification, and are not repeated herein.
Specifically, during the operation of the depth camera 11, the optical transmitter 111 emits the infrared laser light to the current scene in a pulse form (such as the emission waveform S1 and the emission waveform S2 shown in fig. 4), and the optical receiver 112 receives the background infrared light of the current scene and the infrared laser light emitted by the optical transmitter 11 with the gating waveform C1. At this time, since the light emitter 111 emits the infrared laser light, the infrared light received by the light receiver 112 includes not only the background infrared light but also the laser light emitted by the light emitter 111, and thus the background infrared light cannot be accurately obtained at this time. The following description will be given taking as an example that the laser emission waveform is the emission waveform S2 when the vehicle is currently in an outdoor environment.
The processor 12 may cause the optical transmitter 111 to transmit the infrared laser light at a first operating frequency and the optical receiver 112 to receive the infrared laser light and the background infrared light at a second operating frequency, wherein the second operating frequency is greater than the first operating frequency. In this embodiment, the second operating frequency is twice the first operating frequency. The gating waveform C1 in fig. 4 is changed to the gating waveform C2 shown in fig. 8, that is, when the optical transmitter 111 does not emit the infrared laser (e.g., the high level durations t2, t4, t6 and the like in fig. 8), the optical receiver 112 may only receive the background infrared light to generate the corresponding infrared interference image, and the processor 12 may calculate the infrared interference energy according to the infrared interference image, in the manner described above, which is not described herein again. Therefore, in the working process of the depth image, the infrared interference energy can be accurately acquired, and the terminal 10 can monitor the infrared interference energy of the current environment at any time.
In addition, referring to fig. 8, a waveform I1 shows a timing at which the optical receiver 112 acquires the infrared image and a frame number of the infrared image, and a waveform I2 shows a frame number of the speckle image formed only by the infrared laser light emitted from the optical transmitter 111, which is obtained from the interference speckle image and the infrared interference image. The processor 12 controls the optical receiver 112 to receive the background infrared light and the infrared laser light emitted by the optical transmitter 111 when the optical transmitter 111 projects the laser light to acquire an nth frame image (hereinafter referred to as an interference speckle image). While receiving infrared light (i.e., background infrared light) in the environment when the light emitter 111 does not project laser light to acquire an N +1 th frame image (i.e., an infrared interference image); then, the processor 12 controls the optical receiver 112 to receive the background infrared light and the infrared laser light emitted by the optical transmitter 111 when the optical transmitter 111 projects the laser light to acquire an N +2 th frame of the captured image (in this case, an interference speckle image), and so on, the optical receiver 112 alternately acquires the interference speckle image and the infrared interference image.
It should be noted that the processor 12 may control the optical receiver 112 to acquire the infrared interference image first and then acquire the interference speckle image, and alternately perform the acquisition of the collected images according to this sequence. In addition, the multiple relationship between the second operating frequency and the first operating frequency described above is merely an example, and in other embodiments, the multiple relationship between the second operating frequency and the first operating frequency may also be three times, four times, five times, six times, and so on.
The processor 12 distinguishes each collected image, firstly judges whether the collected image is an interference speckle image or an infrared interference image, and specifically judges whether the collected image is an interference speckle image or an infrared interference image by judging whether the light emitter 111 is turned on when the collected image is obtained; if the speckle pattern is started, the current collected image is a collected interference speckle image; if not, the currently acquired image is an infrared interference image. After the processor 12 acquires at least one frame of interference speckle image and at least one frame of infrared interference image, the depth information can be calculated according to the interference speckle image, the infrared interference image and the reference image. Specifically, taking the N frame captured image and the N +1 frame captured image in I1 of fig. 8 as an example, since the infrared interference image is captured when the optical transmitter 111 does not project the infrared laser light, the light forming the infrared interference image includes only the background infrared light (i.e., the N +1 frame captured image does not include the infrared laser light), and the interference speckle image is captured when the optical transmitter 111 projects the laser light, the light forming the interference speckle image includes both the background infrared light and the infrared laser light emitted by the optical transmitter 111 (i.e., the N frame captured image includes the infrared laser light and the background infrared light), the processor 12 may remove the image portion formed by the background infrared light in the interference speckle image according to the infrared interference image, thereby obtaining an image formed by only the infrared laser light emitted by the optical transmitter 111 (i.e., remove the N +1 frame captured image in the N frame captured image to obtain the I2 first frame speckle image in fig. 8, similarly, the (N + 3) th acquired frame image is removed from the (N + 2) th acquired frame image to obtain the I2 second frame speckle image in fig. 8, and so on).
It is understood that the ambient light includes infrared light (e.g., background infrared light with a wavelength of 940nm) having the same wavelength as the laser emitted by the light emitter 111, and when the light receiver 112 acquires the image, the infrared light is also received by the light receiver 112. When the brightness of the scene is high, the proportion of background infrared light in the light received by the light receiver 112 may increase, which may cause the laser speckle point in the captured image to be inconspicuous, thereby affecting the calculation of the depth image. In this embodiment, the light emitter 111 and the light receiver 112 operate at different operating frequencies, and the light receiver 112 can acquire an infrared interference image formed by only background infrared light and an interference speckle image formed by background infrared light and infrared laser light emitted by the light emitter 111 at the same time, so that not only can the size of infrared interference energy of a current scene be detected based on the infrared interference image, but also an image part formed by background infrared light in the interference speckle image can be removed based on the infrared interference image, thereby laser speckle can be distinguished, and depth information can be calculated by using the acquired image formed by only infrared laser light emitted by the light emitter 111, laser speckle matching is not affected, partial or total loss of depth information can be avoided, and accuracy of depth information is improved.
Referring to fig. 9, in some embodiments, the adjusting method includes:
901: acquiring infrared interference energy of a current scene;
902: when the infrared interference energy is smaller than a first preset value, emitting laser at a first frequency, a first pulse width and a first optical power;
903: and when the infrared interference energy is larger than a second preset value, emitting laser light at a second frequency, a second pulse width and a second optical power, wherein the product of the second frequency, the second pulse width and the second optical power is smaller than or equal to the product of the first frequency, the first pulse width and the first optical power.
Referring to fig. 1 and 9, in some embodiments, the light emitter 111 is further configured to emit laser light at a first frequency, a first pulse width and a first optical power when the infrared interference energy is less than a first predetermined value, and emit laser light at a second frequency, a second pulse width and a second optical power when the infrared interference energy is greater than a second predetermined value; the product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power. That is, step 902 may be a sub-step of lasing at a first optical power, step 903 may be a sub-step of lasing at a second optical power, and steps 902 and 903 may be implemented by optical transmitter 111.
The content and specific implementation details of step 901 in fig. 9 may refer to the description of step 301 in this application specification, and are not repeated here.
Specifically, a certain amount of laser light entering the human eye per unit time may pose a human eye safety risk. The rear depth camera 11 is also required to be able to photograph a relatively close object or person, and when the distance is relatively close, the laser with relatively high optical power is liable to cause damage to the person. Therefore, it is important and difficult to ensure the safety of the rear depth camera 11. Therefore, when the laser is emitted, the processor 12 can adjust the total amount of the laser entering the human eye in unit time by controlling the frequency, the pulse width and the optical power of the laser emission, so as to prevent the laser from threatening the safety of the human eye. When the processor 12 determines that the current scene is an outdoor environment, since the laser is emitted with the second optical power greater than the first optical power, in order to ensure eye safety, the second frequency and/or the second pulse width may be appropriately reduced, so that the product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power, thereby ensuring that eye safety is not threatened even if the optical power is increased in the outdoor environment. Meanwhile, the signal-to-noise ratio is not greatly related to the pulse width and frequency of the laser and is only related to the optical power, and the signal-to-noise ratio is improved after the optical power is increased to the second optical power, so that the acquisition precision of the depth image when the outdoor background infrared light is more is ensured.
Referring to fig. 10, in some embodiments, the first predetermined value is smaller than the second predetermined value, and the adjusting method includes:
1001: acquiring infrared interference energy of a current scene;
1002: when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power; and
1003: when the infrared interference energy is larger than a second preset value, emitting laser with second optical power; and
1004: and when the infrared interference energy is larger than a first preset value and smaller than a second preset value, maintaining the current optical power to continuously emit the laser.
Referring to fig. 1 and 10, in some embodiments, the optical transmitter 111 is further configured to maintain the current optical power to continuously emit the laser light when the infrared interference energy is greater than a first predetermined value and less than a second predetermined value. That is, step 1004 may be implemented by optical transmitter 111.
The contents and specific implementation details of step 1001, step 1002, and step 1003 in fig. 10 may refer to the descriptions of step 301, step 302, and step 303 in this specification, and are not described herein again.
Specifically, the first predetermined value is smaller than the second predetermined value, and when the current processor 12 determines that the infrared interference energy of the current scene is greater than the first predetermined value and smaller than the second predetermined value, the current optical power of the optical transmitter 111 may be obtained first, so as to keep the current optical power to continue emitting laser light. For example, when the current scene is indoor, the light emitter 111 emits laser light with the first optical power, and if the user holds the terminal 10 and walks to the window for shooting at this time, the background infrared light is correspondingly increased due to approaching outdoor. At this time, when the infrared interference energy is between the first predetermined value and the second predetermined value, the processor 12 controls the optical transmitter 111 to continue emitting laser light at the first optical power. For another example, when the current scene is outdoor, the light emitter 111 emits laser with the second optical power, and the user holds the terminal 10 by hand and walks to a shadow to shoot, the background infrared light is correspondingly reduced due to the shadow. At this time, when the infrared interference energy is between the first predetermined value and the second predetermined value, the processor 12 may control the optical transmitter 111 to continue to emit the laser light at the second optical power. In this way, a certain margin is reserved between the first predetermined value and the second predetermined value, so as to prevent the infrared interference energy from fluctuating back and forth above and below the third predetermined value when the first predetermined value and the second predetermined value are the same and are the third predetermined value, which results in frequent switching of the optical power of the optical transmitter 111.
Referring to fig. 11, in some embodiments, the second optical power includes one or more sub optical powers, and the adjusting method includes:
1101: acquiring infrared interference energy of a current scene;
1102: when the infrared interference energy is smaller than a first preset value, emitting laser with first optical power;
1103: when the infrared interference energy is larger than a second preset value, determining corresponding sub-optical power according to the infrared interference energy; and
1104: the laser light is emitted at sub-optical power.
Referring to fig. 1 and 11, in some embodiments, the processor 12 is further configured to determine a corresponding sub-optical power according to the infrared interference energy. The optical transmitter 111 is also used to emit laser light at sub-optical power. That is, steps 1103 and 1104 may be substeps of lasing at the second optical power, and step 1103 may be implemented by processor 12 and step 1104 may be implemented by optical emitter 111.
The contents and specific implementation details of step 1101 and step 1102 in fig. 11 may refer to the description of step 301 and step 302 in this application, and are not repeated herein.
Specifically, the second optical power includes one or more sub optical powers, and when the second optical power includes only one sub optical power, as long as the processor 12 determines that the infrared interference energy of the current scene is greater than the second predetermined value, the sub optical power is used to emit laser light regardless of the infrared interference energy. For example, the sub optical power is an optical power required for the depth camera 11 to acquire an accurate depth image even in an outdoor strong light environment. When outdoor ambient light is weak (such as cloudy days, dusk, etc.), if the sub-optical power is still used to emit laser, although an accurate depth image can be acquired, most of the power is wasted, and the power consumption is large.
When the second optical power includes a plurality of sub optical powers, and when the infrared interference energy of the current scene is greater than a second predetermined value, the processor 12 may determine a corresponding sub optical power according to the magnitude of the infrared interference energy, for example, different sub optical powers correspond to different infrared interference energies, so that the processor 12 may control the optical transmitter 111 to transmit laser light at the corresponding sub optical power according to the magnitude of the infrared interference energy.
In an example, the second optical power includes a first sub optical power, a second sub optical power, a third sub optical power, and a fourth sub optical power, where a range of infrared interference energy corresponding to the first sub optical power is from a second predetermined value a to a third predetermined value b, a range of infrared interference energy corresponding to the second sub optical power is from the third predetermined value b to a fourth predetermined value c, a range of infrared interference energy corresponding to the third sub optical power is from the fourth predetermined value c to a fifth predetermined value d, and a range of infrared interference energy corresponding to the fourth sub optical power is greater than the fifth predetermined value d. Wherein the second predetermined value a to the fifth predetermined value d are sequentially increased. The correspondence between the sub-optical power and the infrared interference energy is shown in table 1 below:
TABLE 1
| Sub-optical power | Infrared interference energy range |
| First sub optical power | [a,b] |
| Second sub-optical power | (b,c] |
| Third sub optical power | (c,d] |
| Fourth sub-optical power | (d,∞) |
The second predetermined value and the sixth predetermined value may be average infrared interference energy detected in an outdoor strong light environment and an outdoor weak light environment, and the third predetermined value to the fifth predetermined value are determined according to a difference between the second predetermined value and the sixth predetermined value, for example, if the second predetermined value a is 200, the fifth predetermined value d is 800, the second predetermined value a to the fifth predetermined value d are 200,400, 600, and 800, respectively, and the infrared interference energy of 200 to 800 is divided into 4 steps. When the infrared interference energy is at [ a, b ] (i.e., [200,400]), the optical transmitter 111 emits laser light at a first sub-optical power; when the infrared interference energy is (b, c), (i.e., (400, 600)), the light emitter 111 emits laser light with the second sub-optical power, when the infrared interference energy is (c, d), (i.e., (600, 800)), the light emitter 111 emits laser light with the third sub-optical power, and when the infrared interference energy is (d, ∞), (i.e., (800, ∞)) the light emitter 111 emits laser light with the fourth sub-optical power.
Referring to FIG. 12, the present application also provides a non-transitory computer readable storage medium 200 containing computer readable instructions 202. The computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the adjustment method of any of the above embodiments. The processor 12 may be the processor 12 of fig. 1 and 2.
For example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
301: acquiring infrared interference energy of a current scene;
302: when the infrared interference energy is smaller than a first preset value, controlling the light emitter 111 to emit laser light with first light power; and
303: and when the infrared interference energy is larger than a second preset value, controlling the light emitter 111 to emit laser light with a second light power, wherein the first preset value is smaller than the second preset value, and the second light power is larger than the first light power.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
601: when the laser is not emitted, acquiring an infrared image of the current scene;
602: calculating infrared interference energy according to the infrared image;
603: when the infrared interference energy is smaller than a first preset value, controlling the light emitter 111 to emit laser light with first light power; and
604: and when the infrared interference energy is larger than a second preset value, controlling the light emitter 111 to emit laser light with a second light power, wherein the first preset value is smaller than the second preset value, and the second light power is larger than the first light power.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
6021: acquiring a pixel value of a pixel in an infrared image; and
6022: the infrared interference energy is determined from the pixel values.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
701: controlling the optical transmitter 111 to transmit laser light at a first operating frequency;
702: controlling the optical receiver 112 to receive the laser light and generate the infrared image at a second working frequency, wherein the second frequency is greater than the first frequency;
703: acquiring an infrared interference image of the laser not including the first working frequency in the infrared image;
704: calculating infrared interference energy according to the infrared interference image;
705: when the infrared interference energy is smaller than a first preset value, controlling the light emitter 111 to emit laser light with first light power; and
706: when the infrared interference energy is greater than a second predetermined value, the optical transmitter 111 is controlled to transmit laser light with a second optical power, and the first predetermined value is smaller than the second predetermined value.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
901: acquiring infrared interference energy of a current scene;
902: when the infrared interference energy is less than a first preset value, controlling the light emitter 111 to emit laser light at a first frequency, a first pulse width and a first light power;
903: when the infrared interference energy is greater than a second predetermined value, the optical transmitter 111 is controlled to transmit laser light at a second frequency, a second pulse width and a second optical power, wherein the product of the second frequency, the second pulse width and the second optical power is less than or equal to the product of the first frequency, the first pulse width and the first optical power.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
1001: acquiring infrared interference energy of a current scene;
1002: when the infrared interference energy is smaller than a first preset value, controlling the light emitter 111 to emit laser light with first light power; and
1003: when the infrared interference energy is larger than a second preset value, controlling the light emitter 111 to emit laser light at a second light power; and
1004: when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value, the optical transmitter 111 is controlled to maintain the current optical power to continuously emit the laser light.
For another example, referring to FIG. 3, the computer readable instructions 202, when executed by the processor 12, cause the processor 12 to perform the steps of:
1101: acquiring infrared interference energy of a current scene;
1102: when the infrared interference energy is smaller than a first preset value, controlling the light emitter 111 to emit laser light with first light power;
1103: when the infrared interference energy is larger than a second preset value, determining corresponding sub-optical power according to the infrared interference energy; and
1104: the optical transmitter 111 is controlled to emit laser light at sub-optical power.
In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.
Claims (13)
1. A method of conditioning, comprising:
acquiring infrared interference energy of a current scene;
when the infrared interference energy is smaller than a first preset value, emitting laser at a first frequency, a first pulse width and a first optical power; and
when the infrared interference energy is larger than a second preset value and the current scene is an outdoor environment, emitting laser light at a second frequency, a second pulse width and a second light power, wherein the first preset value is smaller than the second preset value, the second light power is larger than the first light power, and the product of the second frequency, the second pulse width and the second light power is smaller than or equal to the product of the first frequency, the first pulse width and the first light power.
2. The method of adjusting of claim 1, wherein said capturing infrared interference energy comprises:
when the laser is not emitted, acquiring an infrared image of the current scene; and
and calculating the infrared interference energy according to the infrared image.
3. The adjustment method according to claim 2, wherein said calculating the infrared interference energy from the infrared image comprises:
acquiring a pixel value of a pixel in the infrared image; and
and determining the infrared interference energy according to the pixel value.
4. The method of adjusting of claim 1, wherein said capturing infrared interference energy comprises:
emitting laser light at a first operating frequency;
receiving laser light at a second working frequency and generating an infrared image, wherein the second frequency is greater than the first frequency;
acquiring an infrared interference image of the laser not including the first working frequency in the infrared image; and
and calculating the infrared interference energy according to the infrared interference image.
5. The adjustment method according to claim 1, characterized in that the first predetermined value is smaller than the second predetermined value, the adjustment method further comprising:
when the infrared interference energy is larger than the first preset value and smaller than the second preset value, the current optical power is kept to continuously emit laser.
6. The method of claim 1, wherein the second optical power comprises one or more sub-optical powers, and wherein lasing at the second optical power comprises:
determining the corresponding sub-optical power according to the infrared interference energy; and
and emitting laser light with the sub-optical power.
7. A terminal, comprising:
the processor is used for acquiring infrared interference energy of a current scene;
the light emitter is used for emitting laser light at a first frequency, a first pulse width and a first light power when the infrared interference energy is smaller than a first preset value, and emitting laser light at a second frequency, a second pulse width and a second light power when the infrared interference energy is larger than a second preset value and the current scene is an outdoor environment, wherein the first preset value is smaller than or equal to the second preset value, the second light power is larger than the first light power, and the product of the second frequency, the second pulse width and the second light power is smaller than or equal to the product of the first frequency, the first pulse width and the first light power.
8. The terminal of claim 7, further comprising an optical receiver for acquiring an infrared image of a current scene when the optical transmitter is not emitting laser light; the processor is used for calculating the infrared interference energy according to the infrared image.
9. The terminal of claim 8, wherein the processor is further configured to:
acquiring a pixel value of a pixel in the infrared image; and
and determining the infrared interference energy according to the pixel value.
10. The terminal of claim 7, further comprising an optical receiver, the optical transmitter further configured to emit laser light at a first operating frequency; the optical receiver is used for receiving laser at a second working frequency and generating an infrared image, and the second frequency is greater than the first frequency; the processor is used for acquiring an infrared interference image which does not include the laser with the first working frequency in the infrared image and calculating the infrared interference energy according to the infrared interference image.
11. The terminal of claim 7, wherein the first predetermined value is less than the second predetermined value, and wherein the optical transmitter is further configured to maintain the current optical power for continuous lasing when the infrared interference energy is greater than the first predetermined value and less than the second predetermined value.
12. The terminal of claim 7, wherein the second optical power comprises one or more sub-optical powers, and wherein the terminal further comprises a processor configured to determine the corresponding sub-optical power according to the infrared interference energy; the optical transmitter is also used for transmitting laser light with a third optical power.
13. A non-transitory computer-readable storage medium containing computer-readable instructions that, when executed by a processor, cause the processor to perform the adjustment method of any one of claims 1-6.
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| CN112650407A (en) * | 2019-10-11 | 2021-04-13 | 北京小米移动软件有限公司 | Display screen and electronic equipment |
| CN110944135B (en) * | 2019-11-18 | 2022-05-31 | 深圳前海达闼云端智能科技有限公司 | Power control method, electronic device and storage medium |
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