CN113747083B

CN113747083B - Camera exposure parameter adjustment method, device and system, equipment and storage medium

Info

Publication number: CN113747083B
Application number: CN202010463404.XA
Authority: CN
Inventors: 王映宇
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2023-05-26
Anticipated expiration: 2040-05-27
Also published as: CN113747083A

Abstract

The invention provides a camera exposure parameter adjustment method, a device, a system, equipment and a storage medium, wherein the method is applied to the system comprising a detection device and a camera device, and the intersection exists between a detection view field of the detection device and an imaging view field of the camera device, and comprises the following steps: when the detection equipment detects a target object, acquiring first position information of the detected target object, and converting the first position information into second position information according to a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment; determining a first light metering area containing a target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area; and controlling the camera device to perform exposure imaging according to the second exposure parameters to generate an image containing the target object. The imaging quality of the target object can be improved.

Description

Camera exposure parameter adjustment method, device and system, equipment and storage medium

Technical Field

The present invention relates to the field of monitoring technologies, and in particular, to a method, an apparatus, a system, a device, and a storage medium for adjusting exposure parameters of a camera.

Background

In the monitoring field, the camera device may take an image of a monitored area by using technologies such as visible light imaging, so as to monitor the monitored area. In order for the camera device to form a high quality image with well-defined bright and dark details, proper exposure needs to be ensured, and either underexposure or overexposure can affect the image quality.

In the related camera exposure parameter adjustment mode, light measurement is performed on the central area of an image shot by the camera equipment, and exposure is controlled according to a light measurement result, so that the image shot by the camera equipment subsequently can adapt to the light intensity of the environment. However, in the actual monitoring scene, the target object is not necessarily located in the central area due to complex environment, and in the above manner, under-exposure or over-exposure is easily caused for the target object not located in the central area, so that the imaged target object is blurred, and the imaging quality is poor.

Disclosure of Invention

In view of the above, the present invention provides a method, apparatus, system, device, and storage medium for adjusting exposure parameters of a camera, which can improve imaging quality of a target object.

The first aspect of the present invention provides a method for adjusting exposure parameters of a camera, which is applied to a system including a detection device and a camera device, wherein a detection field of view of the detection device intersects with an imaging field of view of the camera device, and the method comprises:

when the detection equipment detects a target object, acquiring first position information of the target object detected by the detection equipment, and converting the first position information into second position information according to a preset conversion relation, wherein the conversion relation is a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment, and the first position information at least comprises azimuth coordinate information of the target object in the first coordinate system;

determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area;

and sending a control signal to the camera equipment, wherein the control signal is used for controlling the camera equipment to adjust the current first exposure parameter to a second exposure parameter and controlling the camera equipment to perform exposure imaging according to the second exposure parameter so as to generate an image containing a target object.

According to one embodiment of the present invention, the determining, from the image captured by the camera device according to the second position information, the first photometric area including the target object includes:

determining the size of a region of interest in an image shot by the camera device, wherein the region of interest comprises a target object, and the size of the region of interest is determined according to the distance between the target object in the first position information and the detection device;

and determining the position of the region of interest according to the second position information, and determining the first photometry area according to the position of the region of interest and the size of the region of interest.

According to one embodiment of the present invention, the determining the size of the region of interest in the image captured by the camera device includes:

determining a distance between a target object and the camera device according to a distance between the target object and the detection device in the first position information and a position relationship between the detection device and the camera device;

and determining the size of the region of interest according to the distance between the target object and the camera device.

And determining a preset size area taking the second position information as a center as the first photometry area.

According to one embodiment of the present invention, the determining a second exposure parameter for replacing a current first exposure parameter of the camera device according to the brightness information of the first light metering area includes:

controlling a camera device to sample pixel brightness values of N pixels from the first light metering area; n is greater than or equal to 1;

calculating the average value of the pixel brightness values of the sampled N pixels;

and determining the second exposure parameter according to the average value, wherein the second exposure parameter comprises exposure time length, sensitivity and/or F value.

According to one embodiment of the invention, the detection device is a radar;

the first coordinate system is a radar coordinate system and the second coordinate system is an image coordinate system.

A second aspect of the present invention provides a camera exposure parameter adjustment apparatus applied to a system including a detection device and a camera device, where a detection field of view of the detection device intersects an imaging field of view of the camera device, including:

the position information determining module is used for acquiring first position information of the target object detected by the detection equipment when the target object is detected by the detection equipment, and converting the first position information into second position information according to a preset conversion relation, wherein the conversion relation is a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment;

The exposure parameter determining module is used for determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and adjusting the current first exposure parameter of the camera equipment to a second exposure parameter according to the brightness information of the first light metering area, wherein the first position information at least comprises azimuth coordinate information of the target object in a first coordinate system;

the control module is used for sending a control signal to the camera equipment, wherein the control signal is used for controlling the camera equipment to adjust the current first exposure parameter to the second exposure parameter, so that the camera equipment can adjust the first exposure parameter to the second exposure parameter according to the control signal, and the exposure imaging is carried out according to the second exposure parameter, so that an image containing the target object is generated.

According to an embodiment of the present invention, when the exposure parameter determining module determines, according to the second position information, a first light metering area including the target object from an image captured by a camera device, the exposure parameter determining module is specifically configured to:

According to one embodiment of the present invention, when the exposure parameter determining module determines the size of the region of interest in the image captured by the camera device, the exposure parameter determining module is specifically configured to:

determining a distance between a target object and the camera device according to the distance between the target object and the detection device in the first position information and the position relationship between the detection device and the camera device;

According to one embodiment of the present invention, when the exposure parameter determining module determines the second exposure parameter for replacing the current first exposure parameter of the camera device according to the brightness information of the first light metering area, the exposure parameter determining module is specifically configured to:

According to one embodiment of the invention, the detection device is a radar;

According to one embodiment of the invention, the target object is a moving object detected in a detection field of view of the detection device.

The third aspect of the invention provides a camera exposure parameter adjustment system, which comprises a controller, and a detection device and a camera device which are connected with the controller; the detection field of view of the detection device intersects the imaging field of view of the camera device;

the detection device is used for: detecting a target object; when a target object is detected, sending the detected first position information of the target object to the controller;

the controller is used for: when the detection equipment detects a target object, acquiring first position information of the target object detected by the detection equipment, and converting the first position information into second position information according to a preset conversion relation, wherein the conversion relation is a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment; determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area; transmitting a control signal to a camera device, wherein the control signal is used for controlling the camera device to adjust the current first exposure parameter to a second exposure parameter;

The camera device is used for acquiring the control signal sent by the controller, adjusting the first exposure parameter to the second exposure parameter according to the control signal, and performing exposure imaging according to the second exposure parameter to generate an image containing the target object.

According to one embodiment of the present invention, when the controller determines the first light metering area including the target object from the image captured by the camera device according to the second position information, the controller is specifically configured to:

According to one embodiment of the present invention, when the controller determines the size of the region of interest in the image captured by the camera device, the controller is specifically configured to:

According to one embodiment of the present invention, when the controller determines the second exposure parameter for replacing the current first exposure parameter of the camera device according to the brightness information of the first light metering area, the controller is specifically configured to:

According to one embodiment of the invention, the detection device is a radar;

A fourth aspect of the invention provides an electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; when the processor executes the program, the camera exposure parameter adjustment method according to the foregoing embodiment is implemented.

A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon a program which, when executed by a processor, implements a camera exposure parameter adjustment method as described in the foregoing embodiments.

The embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, when the detection device detects the target object, the second position information of the target object in the coordinate system applied by the camera device can be determined according to the first position information of the target object detected by the detection device, the first light metering region containing the target object in the image shot by the camera device is determined according to the second position information, the second exposure parameter used for replacing the current first exposure parameter of the camera device is determined according to the brightness information of the first light metering region, the camera device is controlled to replace the current first exposure parameter with the second exposure parameter, and then the camera is controlled to perform exposure imaging according to the second exposure parameter to generate the image containing the target object.

Drawings

FIG. 1 is a flowchart of a camera exposure parameter adjustment method according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a camera exposure parameter adjustment system according to an embodiment of the invention;

FIG. 3 is a block diagram illustrating a camera exposure parameter adjustment apparatus according to an embodiment of the present invention;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various devices, these information should not be limited by these terms. These terms are only used to distinguish one device from another of the same type. For example, a first device could also be termed a second device, and, similarly, a second device could also be termed a first device, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

In order to make the description of the present invention clearer and more concise, some technical terms of the present invention are explained below:

and (3) radar: the device for detecting the target based on the radar principle can detect the distance and the azimuth of the target, such as a laser radar, a millimeter wave radar and the like.

Underexposure: also known as underexposure, can result in an image that is too dark, has low contrast, and is not easily resolved in the underexposed scene in the image.

Overexposure: also known as overexposure, may cause an image or a local area in the image to be white, the texture information to disappear or be weaker, and the overexposed scene in the image may not be resolved.

In the related manner, the central area of the image shot by the camera device is subjected to photometry, and exposure is controlled according to the photometry result, however, in this manner, if the target object is not in the central area, there is a possibility that the target object is underexposed or overexposed, resulting in poor imaging quality of the target object.

Such as: the target object is in the non-central area of the image shot by the equipment, the image is exposed according to the current exposure parameters, at the moment, the target object is darker in the image (for example, the target object faces away from the sun or lamplight, etc.), the central area is brighter in the image, if the central area is subjected to photometry, the determined exposure parameters only ensure that the central area is normally exposed, and the area where the target object is positioned is underexposed.

The following describes the method for adjusting the exposure parameters of the camera according to the embodiment of the invention in more detail, but the method is not limited thereto.

In one embodiment, referring to fig. 1, the camera exposure parameter adjustment method may include the steps of:

s100: when the detection equipment detects a target object, acquiring first position information of the target object detected by the detection equipment, and converting the first position information into second position information according to a preset conversion relation, wherein the conversion relation is a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment, and the first position information at least comprises azimuth coordinate information of the target object in the first coordinate system;

s200: determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area;

s300: and sending a control signal to the camera equipment, wherein the control signal is used for controlling the camera equipment to adjust the current first exposure parameter to a second exposure parameter and controlling the camera equipment to perform exposure imaging according to the second exposure parameter so as to generate an image containing a target object.

The camera exposure parameter adjustment method is applied to a system comprising a detection device and a camera device, wherein the detection view field of the detection device is intersected with the imaging view field of the camera device. The main execution body of the camera exposure parameter adjustment method can be a controller in the system. The controller may be a device independent of the camera device and the probe device, for example, an arithmetic control system composed of a CPU (central processing unit), an FPGA (field programmable gate array), an ASIC (application specific integrated circuit), or the like, and the CPU may be an ARM, a DSP, or the like. In this case, the controller is connected to the camera device and the detecting device, respectively, where the connection includes at least a communication connection to ensure communication between the controller and the camera device and the detecting device, and may include a mechanical connection, for example, the three devices are mounted on the same stand. Of course, the controller may also be integrated in the camera device, or the detection device, without limitation in particular.

The detection device may be a device independent of the camera device, such as a radar with superior detection performance, which may be a millimeter wave radar, a lidar or other radar. Some radars can detect moving and stationary objects, such as lidar; some radars can only detect moving objects, such as millimeter wave radars, and the radar can be selected according to actual needs. Of course, the present invention is not limited thereto, and other devices that can be used to detect the target object may be used as the detection device, for example, the detection device may be a component in the camera device.

The following description will take the case where the detecting device is a device independent from the camera device as an example, but this should not be taken as a limitation.

Referring to fig. 2, the embodiment of the present invention may be applied to a camera exposure parameter adjustment system formed by a detection apparatus 200, a camera apparatus 300 and a controller 400, wherein the controller 400 is connected to the detection apparatus 200 and the camera apparatus 300, respectively. In fig. 2, the detection field of view of the detection device 200 and the imaging field of view of the camera device 300 are represented by two sector areas, respectively, and there is an intersection between the two areas, and the intersection area can be used as a monitoring area. At the time of monitoring, the detecting device 200 is responsible for detecting a target object in the monitored area, and when the detecting device 200 detects the target object T1, the first position information of the detected target object T1 may be transmitted to the controller 400, so that the controller 400 performs the above-described steps S100 to S300. The camera device is responsible for exposure imaging to form an image in accordance with the exposure parameters determined by the controller 400.

In step S100, when the detection device detects the target object, first position information of the target object detected by the detection device is obtained, and the first position information is converted into second position information according to a preset conversion relationship, where the conversion relationship is a conversion relationship between a first coordinate system applied by the detection device and a second coordinate system applied by the camera device, and the first position information at least includes azimuth coordinate information of the target object in the first coordinate system.

The detection device can perform periodic detection after being started; alternatively, the detection device may perform periodic detection under the triggering of the controller. The detection device can detect a certain monitoring area, and the camera device can shoot the same monitoring area, so that when the detection device detects a target object, the target object also exists in an image shot by the camera device.

When the detection device detects the target object, a first detection message for indicating that the target object is detected can be determined, the first detection message contains first position information, the first position information can represent the position information of the target object in a first coordinate system applied by the detection device, and the first coordinate system can be a coordinate system taking the detection device as an origin.

In particular, the first probe message may include distance information (distance between the target object and the probe device) and position coordinate information (X, Y) of the target object in the first coordinate system. The first position information may include the azimuth coordinate information (X, Y), or the first position information may include the azimuth coordinate information (X, Y) and the distance information, which is not particularly limited.

When the controller receives the first detection message, the controller can determine that the detection equipment detects the target object, and can analyze first position information of the target object from the first detection message. The target object is an object of interest, and can be an object such as a person, a vehicle, a ship, an aircraft and the like, and the specific type is not limited and can be determined according to the needs.

Before step S100, a conversion relationship between the first coordinate system applied by the detection device and the second coordinate system applied by the camera device may be calibrated in advance. For example, after the detection device and the camera device are installed, the gestures of the detection device and the camera device are adjusted so that an intersection exists between the detection field of view of the detection device and the imaging field of view of the camera device, then calibration objects are arranged in a monitoring area so that the calibration objects are all located in the intersection area, and then a conversion relation is determined according to the position information of the calibration objects detected by the detection device and the position information of the calibration objects in the image shot by the camera device, wherein the position information of the calibration objects in the image shot by the camera device can be determined through a target detection mode or can be determined according to an externally input position indication.

The positional relationship between the detection device and the camera device may be fixed, so that the conversion relationship between the coordinate systems to which the two are applied may also be fixed. Of course, the positional relationship between the detecting device and the camera device may be readjusted before each operation, in which case the conversion relationship also needs to be redetermined.

Under the condition that the first position information is acquired, the first position information is the position information in the first coordinate system applied by the detection equipment, the first position information at least comprises azimuth coordinate information of the target object in the first coordinate system, the first position information can be converted into second position information according to a preset (such as determined in the mode) conversion relation, and the acquired second position is the position information in the second coordinate system applied by the camera equipment.

In one example, the detection device may be a radar, and correspondingly, the first coordinate system may be a radar coordinate system, and the second coordinate system may be an image coordinate system of the camera device.

In the case that the camera device is a dome camera, the above conversion relationship may be that the position information in the first coordinate system is converted into the corresponding PT coordinate, and then the corresponding position information in the second coordinate system is determined according to the PT coordinate and a preset perspective matrix. Of course, this is not intended to be limiting.

Alternatively, in the case where the detection field of view of the detection device and the imaging field of view of the camera device do not completely overlap, if the detection device detects the target object outside the intersection area and inside the detection field of view, the first position information of the target object may also be determined, and a first detection message for indicating that the target object is detected and carrying the first position information may be sent to the controller. When the controller receives the first detection message, the first position information can be firstly converted from the first coordinate system to the second coordinate system, if the obtained position information is in the preset imaging range, the position information is determined to be the second position information, and the subsequent steps are continuously executed, otherwise, the subsequent steps can not be executed.

In step S200, a first light metering area containing the target object is determined from the image shot by the camera device according to the second position information, and a second exposure parameter for replacing the current first exposure parameter of the camera device is determined according to the brightness information of the first light metering area.

The second position information indicates a position of the target object in an image captured by the camera device, the image being an image formed by the camera device according to the current first exposure parameter. The image may be formed before or after or simultaneously with the determination of the second position information, and the time between the detection device detecting the target object and the camera device forming the above-mentioned image is short, during which the target object does not move to a great extent, so that the second position information may be used as the position information of the target object in the image.

Optionally, the method for determining the first light metering area including the target object from the image shot by the camera device according to the second position information may be that an area corresponding to the second position information is determined as the first light metering area from the image shot by the camera device according to the second position information, so as to ensure that the first light metering area includes the target object.

Alternatively, when determining the second exposure parameter for replacing the current first exposure parameter of the camera device according to the brightness information of the first light metering area, the brightness information of the first light metering area may be counted, the second exposure parameter may be determined according to the counted value, for example, an average value of brightness values of pixels in the first light metering area may be calculated, and the second exposure parameter may be determined according to the average value.

The exposure parameters (including the first exposure parameter and the second exposure parameter) include, for example, an exposure period (shutter speed), a sensitivity, and/or an F-value (aperture size), and the like. Taking the exposure time as an example, when the second exposure parameter is determined according to the average value, the larger the average value is, the shorter the exposure time can be, so as to reduce the brightness of a subsequently formed camera picture; the smaller the average value is, the longer the camera exposure time can be, so as to improve the brightness of the subsequently formed camera picture. The first exposure parameter and the second exposure parameter are different in value, for example, the exposure time length in the first exposure parameter is smaller than the exposure time length in the second exposure parameter, and the first exposure parameter and the second exposure parameter are determined according to the brightness information of the first photometry area.

In step S300, a control signal is sent to the camera device, where the control signal is used to control the camera device to adjust a current first exposure parameter to a second exposure parameter, and control the camera device to perform exposure imaging according to the second exposure parameter, so as to generate an image containing a target object.

In a monitored scene, it is often interesting to target objects in a monitored area, especially in a complex illumination environment, that a camera device is expected to accurately expose the target objects to obtain a clear image of the target objects, while scenes outside the target objects are acceptable even if underexposed or overexposed.

In the embodiment of the invention, after the second exposure parameter is determined, a control signal is sent to the camera equipment, after the camera equipment receives the control signal, the current first exposure parameter can be adjusted to the second exposure parameter, and the image can be formed by exposure according to the second exposure parameter, so that a new image containing the target object can be generated. The second exposure parameters according to the exposure are determined according to the brightness information of the first light metering area containing the target object, and the brightness information of the first light metering area can reflect whether the first exposure parameters are suitable or not in the real environment, so that the target object in the obtained image can be accurately exposed, the imaged target object is clearer, and the image quality is higher.

Alternatively, in the case where the detection device detects a plurality of target objects, the first photometric area where each target object is located may be determined in the above manner.

At this time, the second exposure parameters may be determined from the luminance information of the respective first photometric areas. For example, statistics (such as a statistical average value) is performed for each first light measurement area, an average value of all the statistics values is calculated, a second exposure parameter is determined according to the average value, the camera device is controlled to perform exposure imaging with the second exposure parameter, and then the camera device continues to perform exposure imaging with the second exposure parameter under the condition that the second exposure parameter is not updated. Or, statistics may be performed for each first light measurement area, one statistics value may be selected from all statistics values, a second exposure parameter may be determined according to the selected statistics value, and after the camera device is controlled to perform exposure imaging with the second exposure parameter, a statistics value may be selected from the unselected statistics values, and a step of determining the second exposure parameter according to the selected statistics value may be returned until all statistics values have been selected or a new target object is detected; the selection mode may be selected randomly, or may be determined according to the size of the first light measurement area, which is not limited.

In one embodiment, in step S200, the determining, according to the second position information, the first light metering area including the target object from the image captured by the camera device includes the following steps:

s201: determining the size of a region of interest in an image shot by the camera device, wherein the region of interest comprises a target object, and the size of the region of interest is determined according to the distance between the target object in the first position information and the detection device;

s202: and determining the position of the region of interest according to the second position information, and determining the first photometry area according to the position of the region of interest and the size of the region of interest.

In general, the first position information represents information of a point (which may be a point or a point cloud), and the second position information determined according to the first position information may also represent position information of the point, where the target object is usually located in a region in the image, and the first light metering region is just the region, so that on the basis of determining the second position information, it is also necessary to determine the size of the region of interest in which the target object is located, so as to determine the first light metering region in the image.

When the first position information is the point cloud information of the target object detected by the detection equipment, the approximate position area where the target object is can be determined when the second position information is obtained through conversion.

In step S201, the region of interest is the region where the target object is located, and the size of the region of interest needs to be determined, which also reflects the size of the target object in the image. In general, the size of the target object in the image is related to the distance between the target object and the camera device, and since the first detection information of the detection device includes both azimuth coordinate information and distance information, i.e. the distance between the target object and the detection device has been determined, the distance between the target object and the camera device can be converted, and thus the size of the region of interest can be determined according to the first position information.

Wherein the distance between the target object and the camera device may be obtained from the distance between the target object and the detection device and the conversion relation between the first coordinate system and the second coordinate system.

In step S202, the position of the region of interest is determined according to the second position information, for example, the second position information is determined as the center position of the region of interest. In case the position and the size of the region of interest are both determined, the first photometric area may be determined according to the position and the size of the region of interest. For example, a region whose position is the position of the region of interest and whose size is the size may be determined from the image as the first photometric region, and the specific determination manner is not limited.

In one embodiment, in step S201, the determining the size of the region of interest in the image captured by the camera device may include the following steps:

s2011: determining a distance between a target object and the camera device according to the distance between the target object and the detection device in the first position information and the position relationship between the detection device and the camera device;

s2012: and determining the size of the region of interest according to the distance between the target object and the camera device.

The first position information further includes a distance between the target object and the detection device, and the position information of the target object relative to the camera device can be determined according to the distance between the target object and the detection device in the first position information and the position relationship between the detection device and the camera device, so that the distance between the target object and the camera device can be determined.

The first position information may be directly determined as the position information of the target object with respect to the camera device when the detection device and the camera device are in the same position, and the first position information may include, for example, the position of the target object with respect to the detection device and the distance between the target object and the detection device, in which case the distance included in the first position information may be directly determined as the distance between the target object and the camera device. When the detection device and the camera device are in different positions, the distance between the target object and the camera device can be calculated according to the position relation (such as distance) between the detection device and the camera device and the azimuth and the distance in the first position information.

According to the perspective principle, the farther the target object is from the camera device, the smaller the size of the target object in the image shot by the camera device, the closer the target object is from the camera device, the larger the size of the target object in the image shot by the camera device, and the size of the target object in the image shot by the camera device can be determined according to the distance and by adopting the perspective principle. Thus, the size of the region of interest where the target object is located can be determined more accurately.

In one embodiment, the determining the first light metering area including the target object according to the second position information from the image captured by the camera device may include the following steps:

s203: and determining a preset size area taking the second position information as a center as the first photometry area.

In this embodiment, the size of the first light measurement area is a preset size, and the central position information of the first light measurement area is second position information. Of course, the second position information may not be the center position of the first photometric area, but is not limited thereto.

In one embodiment, in step S200, the determining, according to the brightness information of the first light metering area, the second exposure parameter for replacing the current first exposure parameter of the camera device may include the following steps:

S204: controlling a camera device to sample pixel brightness values of N pixels from the first light metering area; n is greater than or equal to 1;

s205: calculating the average value of the pixel brightness values of the sampled N pixels;

s206: and determining the second exposure parameter according to the average value, wherein the second exposure parameter comprises exposure time length, sensitivity and/or F value.

Since the first photometric area may contain a large number of pixels, in this case, if pixel luminance values of all pixels in the first photometric area are calculated by photometry, the processing amount is too large, and a long processing time is required.

Therefore, in this embodiment, the camera device is controlled to sample the pixel brightness values of N pixels from the first light metering area, where the N pixels may be part of the pixels in the first light metering area, and the exposure parameter is determined according to the collected pixel brightness values of the pixels, so that the required processing time may be reduced. The sampling is referred to as downsampling, and the sampling mode is not particularly limited, and may be, for example, equidistant sampling.

When the second exposure parameter is determined based on the average value, for example, the larger the average value (the stronger the exposure degree is indicated), the smaller the exposure time length, the smaller the sensitivity, and the larger the F value (the smaller the aperture) in the second exposure parameter, so that the exposure degree can be weakened.

In this embodiment, the average value of the sampled pixel brightness values is used as the determination basis of the second exposure parameter, so that the light measurement result is more accurate, and the adjusted exposure parameter is ensured to meet the actual requirement.

In one embodiment, the method may further comprise the steps of:

when a second detection message sent by the detection equipment and used for indicating that the target object is not detected is received, determining a second light measuring area according to preset position information, controlling the camera equipment to measure light of the second light measuring area so as to obtain the camera exposure parameters, and controlling the camera equipment to expose according to the camera exposure parameters.

The second light metering region may be, for example, a center region of the camera screen, or a region offset from the center position, or the entire camera screen, and the like, and is not particularly limited.

The detection device does not detect the target object, which indicates that no area of special interest exists in the camera picture, the camera equipment is controlled to be exposed according to the exposure parameters determined by the photometry of the second photometry area, and the obtained camera picture can meet the requirement.

In one embodiment, the target object is a moving object detected in a detection field of view of the detection device.

In other words, step S100 is further: and when the detection equipment detects the movable target object, acquiring first position information of the target object detected by the detection equipment.

That is, the detecting device determines the moving object as the target object only when the moving object is detected, and transmits first position information of the detected target object to the controller, so that the controller acquires the first position information and performs the subsequent steps.

The present invention also provides a camera exposure parameter adjustment apparatus, which in one embodiment is applied in a system comprising a detection device and a camera device, the detection field of view of the detection device having an intersection with the imaging field of view of the camera device, referring to fig. 3, the apparatus 100 comprises:

the position information determining module 101 is configured to obtain, when the target object is detected by the detection device, first position information of the target object detected by the detection device, and convert the first position information into second position information according to a preset conversion relationship, where the conversion relationship is a conversion relationship between a first coordinate system applied by the detection device and a second coordinate system applied by the camera device, and the first position information at least includes azimuth coordinate information of the target object in the first coordinate system;

An exposure parameter determining module 102, configured to determine a first light measurement area containing the target object from an image captured by the camera device according to the second position information, and determine a second exposure parameter for replacing a current first exposure parameter of the camera device according to brightness information of the first light measurement area;

and the control module 103 is used for sending a control signal to the camera equipment, wherein the control signal is used for controlling the camera equipment to adjust the current first exposure parameter to the second exposure parameter, so that the camera equipment adjusts the first exposure parameter to the second exposure parameter according to the control signal, and performs exposure imaging according to the second exposure parameter to generate an image containing the target object.

In one embodiment, the exposure parameter determining module is specifically configured to, when determining, according to the second position information, a first light metering area including the target object from an image captured by a camera device:

In one embodiment, the exposure parameter determining module is specifically configured to, when determining the size of the region of interest in the image captured by the camera device:

In one embodiment, the exposure parameter determining module is specifically configured to, when determining the second exposure parameter for replacing the current first exposure parameter of the camera device according to the brightness information of the first light metering area:

In one embodiment, the detection device is a radar;

The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements.

The invention also provides a camera exposure parameter adjusting system. In one embodiment, referring to FIG. 2, the system includes a controller 400, and a detection device 200, a camera device 300, coupled to the controller 400; the detection field of view of the detection device 200 intersects the imaging field of view of the camera device 300.

In one embodiment, the detection device is configured to: detecting a target object; when a target object is detected, sending the detected first position information of the target object to the controller;

In one embodiment, when the controller determines the first light metering area including the target object from the image captured by the camera device according to the second position information, the controller is specifically configured to:

In one embodiment, when the controller determines the size of the region of interest in the image captured by the camera device, the controller is specifically configured to:

In one embodiment, when the controller determines the second exposure parameter for replacing the current first exposure parameter of the camera device according to the brightness information of the first light metering area, the controller is specifically configured to:

In one embodiment, the detection device is a radar;

The invention also provides an electronic device, which comprises a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, the camera exposure parameter adjustment method described in the foregoing embodiment is implemented.

The embodiment of the camera exposure parameter adjusting device can be applied to electronic equipment. Taking software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in a nonvolatile memory into a memory by a processor of an electronic device where the device is located for operation. In terms of hardware, as shown in fig. 4, fig. 4 is a hardware configuration diagram of an electronic device where the camera exposure parameter adjustment apparatus 100 according to an exemplary embodiment of the present invention is located, and in addition to the processor 510, the memory 530, the interface 520, and the nonvolatile memory 540 shown in fig. 4, the electronic device where the apparatus 100 is located in the embodiment may further include other hardware according to the actual functions of the electronic device, which is not described herein.

The present invention also provides a machine-readable storage medium having stored thereon a program which, when executed by a processor, implements a camera exposure parameter adjustment method as described in the foregoing embodiments.

The present invention may take the form of a computer program product embodied on one or more storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Machine-readable storage media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of machine-readable storage media include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by the computing device.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

Claims

1. A camera exposure parameter adjustment method, applied to a system including a detection device and a camera device, the detection device including a radar device, a detection field of view of the detection device intersecting an imaging field of view of the camera device, comprising:

when a detection device detects a target object, acquiring first position information of the target object detected by the detection device, and converting the first position information into second position information according to a preset conversion relation, wherein the target object is a moving object detected in a detection view field of the detection device, the first position information comprises point cloud information of the target object, the conversion relation is a conversion relation between a first coordinate system applied by the detection device and a second coordinate system applied by a camera device, and the first position information at least comprises azimuth coordinate information of the target object in the first coordinate system;

2. The method for adjusting exposure parameters of a camera according to claim 1, wherein determining a first photometric area containing the target object from an image captured by a camera device based on the second position information comprises:

3. The method of claim 2, wherein determining the size of the region of interest in the image captured by the camera device comprises:

4. The method for adjusting exposure parameters of a camera according to claim 1, wherein determining a first photometric area containing the target object from an image captured by a camera device based on the second position information comprises:

5. The camera exposure parameter adjustment method according to claim 1, wherein the determining a second exposure parameter for replacing the current first exposure parameter of the camera device based on the luminance information of the first light metering region includes:

6. The camera exposure parameter adjustment method according to claim 1, wherein the detection device is a radar;

7. A camera exposure parameter adjustment apparatus for use in a system comprising a detection device and a camera device, the detection device comprising a radar device, a detection field of view of the detection device intersecting an imaging field of view of the camera device, comprising:

the position information determining module is used for acquiring first position information of a target object detected by the detection equipment when the detection equipment detects the target object, and converting the first position information into second position information according to a preset conversion relation, wherein the target object is a moving object detected in a detection view field of the detection equipment, the first position information comprises point cloud information of the target object, the conversion relation is a conversion relation between a first coordinate system applied by the detection equipment and a second coordinate system applied by the camera equipment, and the first position information at least comprises azimuth coordinate information of the target object in the first coordinate system;

The exposure parameter determining module is used for determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area;

8. The camera exposure parameter adjustment apparatus according to claim 7, wherein the exposure parameter determination module is configured to, when determining the first light metering region including the target object from the image captured by the camera device according to the second position information:

9. The camera exposure parameter adjustment apparatus according to claim 8, wherein the exposure parameter determination module is configured to, when determining a size of a region of interest in an image captured by the camera device:

10. The camera exposure parameter adjustment apparatus according to claim 7, wherein the exposure parameter determination module is configured to, when determining the first light metering region including the target object from the image captured by the camera device according to the second position information:

11. The camera exposure parameter adjustment apparatus according to claim 7, wherein the exposure parameter determination module is configured to, when determining the second exposure parameter for replacing the current first exposure parameter of the camera device according to the luminance information of the first light metering region:

12. The camera exposure parameter adjustment apparatus according to claim 7, wherein the detection device is a radar;

13. A camera exposure parameter adjustment system, which is characterized by comprising a controller, a detection device and a camera device, wherein the detection device and the camera device are connected with the controller; the detection device comprises a radar device, and the detection field of view of the detection device intersects with the imaging field of view of the camera device;

The controller is used for: when a detection device detects a target object, acquiring first position information of the target object detected by the detection device, and converting the first position information into second position information according to a preset conversion relationship, wherein the target object is a detected movable object in a detection view field of the detection device, the first position information comprises point cloud information of the target object, and the conversion relationship is a conversion relationship between a first coordinate system applied by the detection device and a second coordinate system applied by a camera device; determining a first light metering area containing the target object from an image shot by the camera equipment according to the second position information, and determining a second exposure parameter for replacing the current first exposure parameter of the camera equipment according to the brightness information of the first light metering area; transmitting a control signal to a camera device, wherein the control signal is used for controlling the camera device to adjust the current first exposure parameter to a second exposure parameter;

14. An electronic device, comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein the processor, when executing the program, implements the camera exposure parameter adjustment method according to any one of claims 1 to 6.

15. A machine readable storage medium having stored thereon a program which, when executed by a processor, implements the camera exposure parameter adjustment method according to any one of claims 1-6.