CN116228517A

CN116228517A - Depth image processing method, system, equipment and storage medium

Info

Publication number: CN116228517A
Application number: CN202310142918.9A
Authority: CN
Inventors: 董梦超
Original assignee: Jinan Inspur Data Technology Co Ltd
Current assignee: Jinan Inspur Data Technology Co Ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2023-06-06

Abstract

The invention discloses a depth image processing method, which comprises the following steps: acquiring a depth image and dividing the depth image into a plurality of pixel blocks; determining a reference pixel point in each pixel block; calculating the relative depth distance between other pixel points in each pixel block and the reference pixel point; information of each pixel block, information of a reference pixel point, and relative depth distance information are stored. The invention also discloses a system, computer equipment and a readable storage medium. According to the scheme provided by the invention, the depth image is divided into blocks according to the characteristic of representing the distance by the data value in each pixel point of the depth image and the characteristic of spatial continuity by combining the characteristic of spatial continuity with the distance value, and each block is represented by the reference distance occupying a larger data bit and the relative distance occupying a smaller data bit, so that the data bit occupied by the whole depth image is reduced, and the occupied storage space is reduced.

Description

Depth image processing method, system, equipment and storage medium

Technical Field

The present invention relates to the field of image processing, and in particular, to a depth image processing method, system, device, and storage medium.

Background

With the development of 3D technology and unmanned technology, depth images play an increasingly important role. The color image obtained by the common camera can only reflect the plane position information between objects, can not provide the longitudinal depth information between objects, and can not provide powerful data support for the technologies such as map modeling, path planning and the like. The advent of low-cost 3D scanning devices such as Kinect depth cameras and time-of-flight (TOF) cameras opens the door for new applications in different research fields such as computer vision, graphics, human-computer interaction, and virtual reality. The depth camera is utilized to obtain not only color image information in the current scene, but also depth image information between each object in the scene and the depth camera, wherein the three-dimensional space distance between the corresponding pixel point in the color image and the depth camera is recorded in the depth image, and is usually in millimeter units.

Image depth refers to the number of bits used to store each pixel. Color resolution of an image is measured by image depth, and depth image characterizes a specific distance by image depth. For example, 16 bits are typically used to record the depth map information, the 16 th power of 2, i.e. the value lying between 0 and 65535, i.e. the depth information of 65535 mm from the depth camera can be recorded furthest, and a part of the high precision scene requires the use of 32 bits of data to record the depth information. In the process of storing and reading the depth image, the distance value of each pixel is generally compressed to be within the range of 0-255, and the depth image is converted into a gray level image so as to achieve the efficient storage and display effect, but the compressed depth information has a great precision loss and is not suitable for further scientific research and application requirements. Aiming at the new data bearing form of the depth image, the data storage end needs to realize smaller space occupation on one hand and needs to ensure that the use is not influenced after the data is read for the second time on the other hand.

Disclosure of Invention

In view of this, in order to overcome at least one aspect of the above-mentioned problems, an embodiment of the present invention provides a depth image processing method, including the following steps:

acquiring a depth image and dividing the depth image into a plurality of pixel blocks;

determining a reference pixel point in each pixel block;

calculating the relative depth distance between other pixel points in each pixel block and the reference pixel point;

information of each pixel block, information of a reference pixel point, and relative depth distance information are stored.

In some embodiments, determining a reference pixel point in each of the pixel blocks further comprises:

and taking the pixel point of a preset fixed position in each pixel block as a reference pixel point, and taking the depth distance value stored in the reference pixel point as a reference distance.

In some embodiments, calculating the relative depth distance between the reference pixel point and other pixel points in each of the pixel blocks further includes:

and calculating the difference value between the depth distance value stored in the rest pixel points in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtracted number, and the result is taken as the relative depth distance of the corresponding pixel point.

In some embodiments, further comprising:

in response to receiving an instruction for reading the depth image, reading information of pixel blocks divided by the current depth image, information of reference pixel points of each pixel block and relative depth distance information;

and calculating and analyzing the original data of the pixel blocks according to the information of the reference pixel point of each pixel block and the relative depth distance information, and further finishing the reading of the whole depth image data.

Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a depth image processing system, including:

an acquisition module configured to acquire a depth image and to divide the depth image into a plurality of pixel blocks;

a determining module configured to determine a reference pixel point in each of the pixel blocks;

the calculating module is configured to calculate the relative depth distance between other pixel points in each pixel block and the reference pixel point;

and a storage module configured to store information of each pixel block, information of the reference pixel point, and relative depth distance information.

In some embodiments, the determination module is further configured to:

In some embodiments, the computing module is further configured to:

In some embodiments, the apparatus further comprises a reading module configured to:

Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a computer apparatus, including:

at least one processor; and

a memory storing a computer program executable on the processor, the processor executing the program to perform the steps of:

determining a reference pixel point in each pixel block;

In some embodiments, further comprising:

Based on the same inventive concept, according to another aspect of the present invention, there is also provided a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of:

determining a reference pixel point in each pixel block;

In some embodiments, further comprising:

The invention has one of the following beneficial technical effects: according to the scheme provided by the invention, the depth image is divided into blocks according to the characteristic of representing the distance by the data value in each pixel point of the depth image and the characteristic of spatial continuity by combining the characteristic of spatial continuity with the distance value, and each block is represented by the reference distance occupying a larger data bit and the relative distance occupying a smaller data bit, so that the data bit occupied by the whole depth image is reduced, and the occupied storage space is reduced.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention and that other embodiments may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a depth image processing method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a depth image processing procedure according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a depth image processing system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a computer device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

It should be noted that, in the embodiments of the present invention, all the expressions "first" and "second" are used to distinguish two entities with the same name but different entities or different parameters, and it is noted that the "first" and "second" are only used for convenience of expression, and should not be construed as limiting the embodiments of the present invention, and the following embodiments are not described one by one.

According to an aspect of the present invention, an embodiment of the present invention proposes a depth image processing method, as shown in fig. 1, which may include the steps of:

s1, acquiring a depth image and dividing the depth image into a plurality of pixel blocks;

s2, determining a reference pixel point in each pixel block;

s3, calculating the relative depth distances between other pixel points in each pixel block and the reference pixel point;

and S4, storing information of each pixel block, information of the reference pixel point and relative depth distance information.

According to the scheme provided by the invention, the depth image is divided into blocks according to the characteristic of representing the distance by the data value in each pixel point of the depth image and the characteristic of spatial continuity by combining the characteristic of spatial continuity with the distance value, and each block is represented by the reference distance occupying a larger data bit and the relative distance occupying a smaller data bit, so that the data bit occupied by the whole depth image is reduced, and the occupied storage space is reduced.

In some embodiments, further comprising:

Specifically, as shown in fig. 2, according to the set image block size, the depth image is divided into pixel blocks of m×n according to the pixel size, and the set image block size information is recorded.

And sequentially performing reference selection on each block, taking a pixel point at a fixed position in each pixel block as a reference pixel point, taking the upper left pixel point as an example, and taking a depth distance value stored in the reference pixel point of the current block as the reference distance of the current block.

And calculating the difference value between the depth distance value stored in the rest pixel points in each block and the reference distance of the current block, taking the reference distance as the subtracted number, and taking the result as the relative distance of the corresponding pixel points. The reference distance data of each reference pixel point is larger and needs to be stored completely, and the original larger data bit representation, such as 16-bit data, needs to be occupied. The relative distance of the remaining pixels of each block is small, and a precise representation, such as 8-bit or 10-bit data, can be accomplished using relatively small data bits.

The image block size information, the reference distance information of each block, and the relative distance information are stored. The reference distance of the current block and the relative distance of the pixel point are stored, so that the depth image block can be stored, each block divided by the depth image is sequentially stored, the size information of the divided blocks is added to the data head, and the whole depth image is stored.

In the reading stage of the depth image data, firstly, reading block size information divided by a current depth image, then calculating and analyzing original data of the current block according to a reference distance and a relative distance of each read block, sequentially analyzing each block, and finishing reading the current whole depth image data.

According to the scheme provided by the invention, the depth image is firstly divided into the set block sizes, the distance value of the fixed position in the block is selected as the reference distance of the current block, the position difference between the rest pixel points in the block and the reference distance of the current block is calculated as the relative distance, and the relative distance is often far smaller than the original distance and can be represented by fewer data bits, so that the purpose of saving space by data compression is realized. And the whole depth image is traversed by the method, and the reference distance value and the relative distance value of each block are stored to replace the storage of the whole depth image, so that the aim of reducing the data storage space while ensuring the unchanged data precision is fulfilled.

Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a depth image processing system 400, as shown in fig. 3, including:

an acquisition module 401 configured to acquire a depth image and to divide the depth image into a plurality of pixel blocks;

a determining module 402 configured to determine a reference pixel point in each of the pixel blocks;

a calculating module 403, configured to calculate a relative depth distance between other pixel points in each pixel block and the reference pixel point;

the storage module 404 is configured to store information of each pixel block, information of a reference pixel point, and relative depth distance information.

In some embodiments, the determination module 402 is further configured to:

In some embodiments, the computing module 403 is further configured to:

Based on the same inventive concept, according to another aspect of the present invention, as shown in fig. 4, an embodiment of the present invention further provides a computer apparatus 501, including:

at least one processor 520; and

the memory 510, the memory 510 stores a computer program 511 executable on a processor, and the processor 520 executes the program to perform the steps of:

s2, determining a reference pixel point in each pixel block;

In some embodiments, further comprising:

Based on the same inventive concept, according to another aspect of the present invention, as shown in fig. 5, an embodiment of the present invention further provides a computer-readable storage medium 601, the computer-readable storage medium 601 storing a computer program 610, the computer program 610 when executed by a processor performing the steps of:

s2, determining a reference pixel point in each pixel block;

In some embodiments, further comprising:

Finally, it should be noted that, as will be appreciated by those skilled in the art, all or part of the procedures in implementing the methods of the embodiments described above may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the procedures of the embodiments of the methods described above when executed.

Further, it should be appreciated that the computer-readable storage medium (e.g., memory) herein can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as software or hardware depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The foregoing is an exemplary embodiment of the present disclosure, but it should be noted that various changes and modifications could be made herein without departing from the scope of the disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. Furthermore, although elements of the disclosed embodiments may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.

It should be understood that as used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly supports the exception. It should also be understood that "and/or" as used herein is meant to include any and all possible combinations of one or more of the associated listed items.

The foregoing embodiment of the present invention has been disclosed with reference to the number of embodiments for the purpose of description only, and does not represent the advantages or disadvantages of the embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

Those of ordinary skill in the art will appreciate that: the above discussion of any embodiment is merely exemplary and is not intended to imply that the scope of the disclosure of embodiments of the invention, including the claims, is limited to such examples; combinations of features of the above embodiments or in different embodiments are also possible within the idea of an embodiment of the invention, and many other variations of the different aspects of the embodiments of the invention as described above exist, which are not provided in detail for the sake of brevity. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the embodiments should be included in the protection scope of the embodiments of the present invention.

Claims

1. A depth image processing method, comprising the steps of:

determining a reference pixel point in each pixel block;

2. The method of claim 1, wherein determining a reference pixel point in each of the pixel blocks further comprises:

3. The method of claim 2, wherein calculating the relative depth distances between other pixel points in each of the pixel blocks and the reference pixel point further comprises:

4. The method as recited in claim 1, further comprising:

5. A depth image processing system, comprising:

6. The system of claim 5, wherein the determination module is further configured to:

7. The system of claim 6, wherein the computing module is further configured to:

8. The system of claim 5, further comprising a reading module configured to:

9. A computer device, comprising:

at least one processor; and

a memory storing a computer program executable on the processor, wherein the processor performs the steps of the method of any of claims 1-4 when the program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor performs the steps of the method according to any of claims 1-4.