CN113542534A - TOF camera control method and device and storage medium - Google Patents
TOF camera control method and device and storage medium Download PDFInfo
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- CN113542534A CN113542534A CN202111089821.3A CN202111089821A CN113542534A CN 113542534 A CN113542534 A CN 113542534A CN 202111089821 A CN202111089821 A CN 202111089821A CN 113542534 A CN113542534 A CN 113542534A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The application discloses a TOF camera control method, a TOF camera control device and a storage medium, which are used for reducing the influence of ambient light on the TOF camera and improving the calculation accuracy of the TOF camera. The dot matrix light area of the dot matrix projector and the floodlight area of the floodlight projector are established with a mutual mapping relation through a preset association strategy, and the method comprises the following steps: controlling a dot matrix projector to project a target area of an object to be shot; carrying out region marking on abnormal regions with abnormality in the target region; controlling a floodlight projector to project a target area, and carrying out full-width settlement on the target area to obtain first depth information; according to the mutual mapping relation and the abnormal mark of the abnormal area, obtaining second depth information of the abnormal area through depth gating; and performing depth settlement on the target area through the first depth information and the second depth information.
Description
Technical Field
The present disclosure relates to the field of camera control technologies, and in particular, to a TOF camera control method and apparatus, and a storage medium.
Background
A Time of flight (TOF) depth camera acquires a depth image of a measured space by emitting a floodlight beam with a specific waveband, receiving a reflected light beam of an object in the measured space by using a sensor and measuring the flight Time of the light beam in the space to calculate the distance. The TOF depth camera can obtain a gray image and a depth image at the same time, and is widely applied to the technical fields of 3D depth vision-related gesture recognition, face recognition, 3D modeling, motion sensing games, machine vision, auxiliary focusing, security protection, automatic driving and the like.
In the prior art, a TOF camera generally completes light projection through a dot matrix projector or a floodlight projector, however, the characteristics of dot matrix light and floodlight also have influence on the final image imaging effect, for example, the dot matrix light is easily overexposed in a short distance, and the floodlight is easily influenced by ambient light, so that the imaging effect is poor, so that the TOF camera has obvious multipath problems when encountering scenes such as wall corners, glass and mirror surfaces, and the ranging deviation is caused, which brings limitation to the application of the TOF camera. Therefore, a solution capable of improving the applicability of the TOF camera to complex scenes is needed.
Disclosure of Invention
In order to solve the technical problem, the application provides a TOF camera control method, a TOF camera control device and a storage medium, which are used for reducing the influence of ambient light on the TOF camera and improving the calculation accuracy of the TOF camera.
The application provides a TOF camera control method, which is applied to a time-of-flight TOF camera, wherein the TOF camera is provided with a dot matrix projector and a floodlight projector, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are established with a mutual mapping relation through a preset association strategy, and the method comprises the following steps:
controlling the dot matrix projector to project a target area of an object to be shot;
carrying out region marking on abnormal regions with abnormality in the target region;
controlling the floodlight projector to project the target area, and carrying out full-width settlement on the target area to obtain first depth information;
according to the mutual mapping relation and the abnormal mark of the abnormal area, obtaining second depth information of the abnormal area through depth gating;
and performing depth settlement on the target area through the first depth information and the second depth information.
Optionally, the area marking of the abnormal area in which the abnormality occurs in the target area includes:
determining an abnormal area according to the distribution rule of the lattice light in the target area;
and marking the abnormal area.
Optionally, the performing full-width settlement on the target area includes:
and synthesizing the dot matrix projector and the floodlight projector to perform full settlement on the projection of the target area.
Optionally, the performing depth settlement on the target area through the first depth information and the second depth information includes:
obtaining a depth information difference value of each sub-area in the abnormal area according to the first depth information and the second depth information;
and comparing the depth information difference with a preset difference threshold to obtain a comparison result, and performing depth settlement on the corresponding sub-area according to the comparison result.
Optionally, the abnormal region is a region interfered by multipath light.
The second aspect of the present application provides another TOF camera control method, which is applied to a TOF camera, wherein the TOF camera is provided with a dot matrix projector and a floodlight projector, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are established with a mutual mapping relationship through a preset association strategy, and the method includes:
controlling the dot matrix projector to project an object to be shot, and determining a first target area with a projection distance larger than the nearest projection distance of the dot matrix projector and a second target area with a projection distance smaller than the nearest projection distance of the dot matrix projector on the object to be shot;
controlling the dot matrix projector to project the first target area to obtain first depth information;
controlling the floodlight projector to project the second target area to obtain second depth information;
and performing depth settlement on the object to be shot according to the first depth information and the second depth information.
The third aspect of the present application provides a TOF camera control device, which is applied to a TOF camera, wherein the TOF camera is provided with a dot matrix projector and a floodlight projector, a mutual mapping relationship is established between a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector through a preset association strategy, and the TOF camera control device comprises:
the first control unit is used for controlling the dot matrix projector to project a target area of an object to be shot;
the marking unit is used for marking the abnormal area with abnormality in the target area;
the second control unit is used for controlling the floodlight projector to project the target area and perform full settlement on the target area to obtain first depth information;
the depth gating unit is used for obtaining second depth information of the abnormal area through depth gating according to the mutual mapping relation and the abnormal mark of the abnormal area;
and a first depth settlement unit for performing depth settlement on the target area through the first depth information and the second depth information.
The fourth aspect of the present application provides another TOF camera control device, which is applied to a TOF camera, wherein a dot matrix projector and a floodlight projector are arranged in the TOF camera, a mutual mapping relationship is established between a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector through a preset association strategy, and the TOF camera control device comprises:
the third control unit is used for controlling the dot matrix projector to project an object to be shot, and determining a first target area with a projection distance larger than the nearest projection distance of the dot matrix projector and a second target area with a projection distance smaller than the nearest projection distance of the dot matrix projector on the object to be shot;
the fourth control unit is used for controlling the dot matrix projector to project the first target area to obtain first depth information;
the fifth control unit is used for controlling the floodlight projector to project the second target area to obtain second depth information;
and the second depth settlement unit is used for performing depth settlement on the object to be shot according to the first depth information and the second depth information.
A fifth aspect of the present application provides another TOF camera control apparatus, the apparatus comprising:
the device comprises a processor, a memory, an input and output unit and a bus;
the processor is connected with the memory, the input and output unit and the bus;
the memory holds a program that the processor calls to perform the method of any of the first, second and first aspects.
A sixth aspect of the present application provides a computer readable storage medium having a program stored thereon, which when executed on a computer performs the method of any one of the first, second and first aspects.
According to the technical scheme, the method has the following advantages:
according to the method, firstly, the dot matrix projector is controlled to project an object to be shot, so that an abnormal area is marked, then the floodlight projector is controlled to project, full-width settlement of a target area is conducted to obtain first depth information, then second depth information of the abnormal area is obtained through depth gating, and finally the first depth information and the second depth information are synthesized to conduct depth settlement on the target area. In practice, the lattice light energy density is higher, and is favorable to restraining the influence of ambient light, provides help to brushing and selecting multipath light, and floodlight is difficult to appear overexposure, obtains higher resolution ratio easily, and the method that this application provided can synthesize the advantage of lattice light and floodlight, can reduce the influence of ambient light, improves the computational accuracy of depth information.
Drawings
In order to more clearly illustrate the technical solutions in the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow diagram of one embodiment of a TOF camera control method provided herein;
FIG. 2 is a schematic view of an embodiment of a mutual mapping between a dot matrix light area and a flood area in the present application;
FIG. 3 is a schematic flow diagram of another embodiment of a TOF camera control method provided herein;
FIG. 4 is a schematic view of the same area of the application as the spot light and flood light;
FIG. 5 is a schematic diagram of different areas of the lattice light and flood light projection of the present application;
FIG. 6 is a schematic structural diagram of one embodiment of a TOF camera control apparatus provided herein;
FIG. 7 is a schematic block diagram of another embodiment of a TOF camera control apparatus provided herein;
fig. 8 is a schematic structural diagram of another embodiment of a TOF camera control apparatus provided in the present application.
Detailed Description
The TOF camera generally completes light projection through a dot matrix projector or a floodlight projector, however, the characteristics of the dot matrix light and the floodlight also have influence on the final image imaging effect, for example, the dot matrix light is easily overexposed at a short distance, and the floodlight is easily influenced by ambient light, resulting in poor imaging effect, which causes that the TOF camera has obvious multipath problem when encountering scenes such as wall corners, glass, mirror surfaces and the like, resulting in ranging deviation, which brings limitation to the application of the TOF camera. Therefore, a solution capable of improving the applicability of the TOF camera to complex scenes is needed.
Based on the above, the application provides a TOF camera control method, which can be applied to the fields of sweeper, robots, face payment, passenger flow statistics, mobile phone focusing, face unlocking and the like, and is used for reducing the influence of ambient light on the TOF camera and improving the calculation accuracy of the TOF camera.
It should be noted that the TOF camera control method provided by the present application may be applied to a terminal, a system, or a server, for example, the terminal may be a fixed terminal such as a smart phone or a computer, a tablet computer, a smart television, a smart watch, a video terminal, a portable computer terminal, or a desktop computer. For convenience of explanation, the terminal is taken as an execution subject for illustration in the present application.
Referring to fig. 1 and 4, the present application provides an embodiment of a TOF camera control method, in which a target area is projected through a dot matrix light and a flood light, respectively, so as to perform depth settlement on the target area, thereby reducing the influence of ambient light and improving the calculation accuracy of depth data. See fig. 4 for a schematic representation of the projection of the target area by means of a dot matrix light and a flood light.
As will be described in detail below, referring to fig. 1, the TOF camera control method includes:
101. controlling a dot matrix projector to project a target area of an object to be shot;
the method provided by the application is applied to a TOF camera, the TOF camera is provided with a dot matrix projector and a floodlight projector, a mutual mapping relation is established between a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector through a preset association strategy, wherein the preset association strategy can be a one-to-one relation between the areas, for example, please refer to fig. 2, a one-to-one association correspondence between a dot matrix light area of 3 x 3 and a floodlight area of 3 x 3 in fig. 2, the mutual mapping relation can also be other association strategies, and the mutual mapping relation is not limited herein. When shooting, the terminal firstly controls the dot matrix projector to project the target area of the object to be shot.
102. Carrying out region marking on abnormal regions with abnormality in the target region;
under the same energy, the lattice light is floodlight, the energy density is higher, and under an outdoor strong light scene, the ratio of ambient light energy can be reduced, so that the influence of ambient light can be favorably inhibited. The lattice light can realize the coding of the spatial light spot distribution 0 and 1 (wherein 0 represents no light and 1 represents light), and provides help for brushing multipath light. Under the same energy, the lattice light is floodlight, the energy density is higher, and the energy efficiency ratio can be higher in the remote measurement process. The abnormal area can be an area interfered by multipath light, the abnormal area can be well brushed and selected through projection of the dot matrix light, and then the abnormal area is marked, and specifically, the abnormal area can be judged by comparing the distribution rule of the dot matrix light on the target area with the distribution rule of the dot matrix light under the normal condition.
103. Controlling a floodlight projector to project a target area, and carrying out full-width settlement on the target area to obtain first depth information;
referring to fig. 4, the spot light and flood light in fig. 4 project the same target area, and since the flood light is more likely to overexpose at a close distance than the spot light. And floodlight is easier to obtain higher resolution than the dot matrix light, so that after the dot matrix light is used for projecting the target area so as to mark the abnormal area in the target area, the terminal controls the floodlight projector to project the target area and carry out full settlement on the target area, and the dot matrix light and the floodlight are synthesized for carrying out settlement during the full settlement, and first depth information for the full settlement of the target area is obtained.
104. According to the mutual mapping relation and the abnormal mark of the abnormal area, obtaining second depth information of the abnormal area through depth gating;
depth gating is carried out on the abnormal region through a pre-established mutual mapping relation and an abnormal mark of the abnormal region, for example, objects in different distance ranges in a field of view of a TOF camera are separated through depth, conventionally, only the depth in the distance range of interest is displayed, and the depths in other ranges are set to be 0. Second depth information of the abnormal region can be obtained by depth gating.
105. And performing depth settlement on the target area through the first depth information and the second depth information.
The terminal comprehensively settles the first depth information and the second depth information to obtain final depth information of the target area, and when settling, a depth information difference value of each subarea in the abnormal area can be obtained according to the first depth information and the second depth information, for example, the depth information of the abnormal area obtained during floodlight projection is subtracted from the depth information of each subarea in the abnormal area obtained during lattice light projection to obtain a depth information difference value, wherein the subarea can be a pixel or an area formed by a plurality of pixels, the depth information difference value is compared with a preset depth difference value threshold, and depth settlement is performed according to the comparison result, so that the depth information of each subarea is obtained. If the depth information difference is less than the difference threshold as compared to the difference threshold, the sub-region is set as an active region, and if the depth information difference is greater than the difference threshold, the sub-region is set as an inactive region.
In the method provided by the embodiment, firstly, the dot matrix projector is controlled to project an object to be shot so as to mark an abnormal area, then, the floodlight projector is controlled to project, full-width settlement of the target area is performed to obtain first depth information, then, second depth information of the abnormal area is obtained through depth gating, and finally, the first depth information and the second depth information are synthesized to perform depth settlement on the target area. In practice, the lattice light energy density is higher, the influence of ambient light is favorably inhibited, the method helps brushing and selecting multipath light, flood light is not easy to overexpose, and higher resolution is easily obtained.
In practical application, flood light is not easy to overexpose in a short distance compared with dot matrix light, and the dot matrix light has a higher energy efficiency ratio in a remote measurement process, so that the characteristics of the dot matrix light and the flood light can be integrated in the application, different light is projected according to different distances, and another embodiment is explained in detail by combining the attached drawings.
Referring to fig. 3 and 5, the present application provides another embodiment of a TOF camera control method, in which a dot-matrix light and a floodlight respectively project areas with different distances, wherein the dot-matrix light projects a first target area with a longer distance and the floodlight projects a second target area with a shorter distance, thereby fully playing the advantages of the dot-matrix light and the floodlight. A schematic of the different areas of the dot matrix light and flood projection is shown in fig. 5.
The respective steps in this embodiment will be described in detail below, and this embodiment includes:
301. controlling a dot matrix projector to project an object to be shot, and determining a first target area with a projection distance larger than the nearest projection distance of the dot matrix projector and a second target area with a projection distance smaller than the nearest projection distance of the dot matrix projector on the object to be shot;
the method provided by this embodiment is applied to a TOF camera, in which a dot matrix projector and a floodlight projector are arranged, a mutual mapping relationship is established between a dot matrix light region of the dot matrix projector and a floodlight region of the floodlight projector through a preset association policy, where the mutual mapping relationship may be a one-to-one relationship between the regions, for example, please refer to fig. 2, where a dot matrix light region of 3 × 3 corresponds to a floodlight region of 3 × 3 in fig. 2 in a one-to-one association manner, and the mutual mapping relationship may also be other association policies, which is not limited herein.
Referring to fig. 5, in this embodiment, in fig. 5, the object to be photographed is divided into a first target area and a second target area according to the actual projection distance, the controller controls the dot-matrix projector to project the object to be photographed, and determines the first target area having the projection distance greater than the closest projection distance of the dot-matrix projector and the second target area having the projection distance less than the closest projection distance of the dot-matrix projector, where the closest projection distance of the dot-matrix projector is the shortest working distance of the dot-matrix projector, and in practice, if the actual projection distance is less than the closest projection distance, an overexposure phenomenon may occur.
302. Controlling a dot matrix projector to project a first target area to obtain first depth information;
under the same energy, the lattice light is floodlight, the energy density is higher, and the energy efficiency ratio can be higher in the remote measurement process, so that the lattice light is projected by using the lattice projector for the first target area with a longer actual projection distance, and the first depth information of the first target area is obtained.
303. Controlling a floodlight projector to project a second target area to obtain second depth information;
and when the actual projection distance is smaller than the nearest projection distance of the dot matrix projector, the dot matrix light is easy to generate an overexposure phenomenon, so that the floodlight projector is used for projecting floodlight for the second target area with a relatively short distance, and the second depth information of the second target area is obtained.
304. And performing depth settlement on the object to be shot according to the first depth information and the second depth information.
And integrating the first depth information of the first target area and the second depth information of the second target area to perform depth settlement on the shot object. In the method provided by the embodiment, the object to be shot is divided into different areas according to the actual projection distance, so that the dot matrix light and the floodlight are respectively used for projection, the depth information of the different areas is obtained through the lights of different types, the advantages of the dot matrix light and the floodlight can be fully utilized, and more accurate depth information is obtained.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a TOF camera control apparatus according to an embodiment of the present disclosure, the TOF camera control apparatus includes:
the first control unit 601 is configured to control the dot matrix projector to project a target area of an object to be photographed;
a marking unit 602, configured to perform area marking on an abnormal area where an abnormality occurs in the target area;
the second control unit 603 is configured to control the floodlight projector to project a target area, and perform full-width settlement on the target area to obtain first depth information;
a depth gating unit 604, configured to obtain second depth information of the abnormal region through depth gating according to the mutual mapping relationship and the abnormal mark on the abnormal region;
a first depth settlement unit 605 for performing depth settlement on the target area by the first depth information and the second depth information.
Optionally, the marking unit 602 is specifically configured to:
determining an abnormal area according to the distribution rule of the dot matrix light in the target area;
and marking the abnormal area.
Optionally, the second control unit 603 is specifically configured to:
and the projection of the target area is subjected to full settlement by integrating the dot matrix projector and the floodlight projector.
Optionally, the first deep settlement unit 605 is specifically configured to:
obtaining a depth information difference value of each sub-area in the abnormal area according to the first depth information and the second depth information;
and comparing the depth information difference with a preset difference threshold to obtain a comparison result, and performing depth settlement on the corresponding sub-area according to the comparison result.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a TOF camera control apparatus according to an embodiment of the present disclosure, the TOF camera control apparatus includes:
a third control unit 701, configured to control the dot matrix projector to project an object to be photographed, and determine, on the object to be photographed, a first target region whose projection distance is greater than a closest projection distance of the dot matrix projector and a second target region whose projection distance is smaller than the closest projection distance of the dot matrix projector;
a fourth control unit 702, configured to control the dot matrix projector to project the first target area, so as to obtain first depth information;
a fifth control unit 703, configured to control the floodlight projector to project the second target area, so as to obtain second depth information;
and a second depth settlement unit 704 configured to perform depth settlement on the object to be photographed according to the first depth information and the second depth information.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a TOF camera control apparatus according to an embodiment of the present disclosure, the TOF camera control apparatus includes:
a processor 801, a memory 802, an input/output unit 803, a bus 804;
the processor 801 is connected to a memory 802, an input/output unit 803, and a bus 804;
the memory 802 holds a program that the processor 801 calls to execute any of the TOF camera control methods described above.
The present application also relates to a computer-readable storage medium having a program stored thereon, wherein the program, when run on a computer, causes the computer to perform any of the TOF camera control methods described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (10)
1. A TOF camera control method is applied to a time-of-flight TOF camera, a dot matrix projector and a floodlight projector are arranged in the TOF camera, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are in mutual mapping relation through a preset association strategy, and the method comprises the following steps:
controlling the dot matrix projector to project a target area of an object to be shot;
carrying out region marking on abnormal regions with abnormality in the target region;
controlling the floodlight projector to project the target area, and carrying out full-width settlement on the target area to obtain first depth information;
according to the mutual mapping relation and the abnormal mark of the abnormal area, obtaining second depth information of the abnormal area through depth gating;
and performing depth settlement on the target area through the first depth information and the second depth information.
2. The TOF camera control method according to claim 1, wherein the area marking an abnormal area where an abnormality occurs in the target area includes:
determining an abnormal area according to the distribution rule of the lattice light in the target area;
and marking the abnormal area.
3. The TOF camera control method according to claim 1, wherein the full settlement of the target area comprises:
and synthesizing the dot matrix projector and the floodlight projector to perform full settlement on the projection of the target area.
4. The TOF camera control method according to claim 1, wherein the depth accounting of the target region by the first depth information and the second depth information comprises:
obtaining a depth information difference value of each sub-area in the abnormal area according to the first depth information and the second depth information;
and comparing the depth information difference with a preset difference threshold to obtain a comparison result, and performing depth settlement on the corresponding sub-area according to the comparison result.
5. The TOF camera control method according to any one of claims 1 to 4, wherein the abnormal region is a region interfered by multipath light.
6. A TOF camera control method is applied to a TOF camera, a dot matrix projector and a floodlight projector are arranged in the TOF camera, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are established to have a mutual mapping relation through a preset association strategy, and the method comprises the following steps:
controlling the dot matrix projector to project an object to be shot, and determining a first target area with a projection distance larger than the nearest projection distance of the dot matrix projector and a second target area with a projection distance smaller than the nearest projection distance of the dot matrix projector on the object to be shot;
controlling the dot matrix projector to project the first target area to obtain first depth information;
controlling the floodlight projector to project the second target area to obtain second depth information;
and performing depth settlement on the object to be shot according to the first depth information and the second depth information.
7. A TOF camera control device is applied to a TOF camera, a dot matrix projector and a floodlight projector are arranged in the TOF camera, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are established to have a mutual mapping relation through a preset association strategy, and the TOF camera control device comprises:
the first control unit is used for controlling the dot matrix projector to project a target area of an object to be shot;
the marking unit is used for marking the abnormal area with abnormality in the target area;
the second control unit is used for controlling the floodlight projector to project the target area and perform full settlement on the target area to obtain first depth information;
the depth gating unit is used for obtaining second depth information of the abnormal area through depth gating according to the mutual mapping relation and the abnormal mark of the abnormal area;
and a first depth settlement unit for performing depth settlement on the target area through the first depth information and the second depth information.
8. A TOF camera control device is applied to a TOF camera, a dot matrix projector and a floodlight projector are arranged in the TOF camera, a dot matrix light area of the dot matrix projector and a floodlight area of the floodlight projector are established to have a mutual mapping relation through a preset association strategy, and the TOF camera control device comprises:
the third control unit is used for controlling the dot matrix projector to project an object to be shot, and determining a first target area with a projection distance larger than the nearest projection distance of the dot matrix projector and a second target area with a projection distance smaller than the nearest projection distance of the dot matrix projector on the object to be shot;
the fourth control unit is used for controlling the dot matrix projector to project the first target area to obtain first depth information;
the fifth control unit is used for controlling the floodlight projector to project the second target area to obtain second depth information;
and the second depth settlement unit is used for performing depth settlement on the object to be shot according to the first depth information and the second depth information.
9. A TOF camera control apparatus, characterized in that the apparatus comprises:
the device comprises a processor, a memory, an input and output unit and a bus;
the processor is connected with the memory, the input and output unit and the bus;
the memory holds a program that the processor calls to perform the method of any of claims 1 to 6.
10. A computer-readable storage medium having a program stored thereon, the program, when executed on a computer, executing the TOF camera control method according to any one of claims 1 to 6.
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| CN115190285A (en) * | 2022-06-21 | 2022-10-14 | 中国科学院半导体研究所 | 3D image acquisition system and method |
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