CN116912451A

CN116912451A - Point cloud image acquisition method, device, equipment and storage medium

Info

Publication number: CN116912451A
Application number: CN202211145062.2A
Authority: CN
Inventors: 孙妙妍; 宋启原; 黄健; 赵顺顺; 黄雨昕; 丁有爽; 邵天兰
Original assignee: Mech Mind Robotics Technologies Co Ltd
Current assignee: Mech Mind Robotics Technologies Co Ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2023-10-20
Anticipated expiration: 2042-09-20
Also published as: CN116912451B

Abstract

The disclosure provides a method, a device, equipment and a storage medium for acquiring a point cloud image, which relate to the technical field of image processing, wherein the method for acquiring the point cloud image comprises the following steps: acquiring an ambient light period of ambient light when a camera shoots; according to the ambient light period, adjusting the duration of the dark time in the light-machine light-projecting period to obtain an adjusted light-projecting period, so that the adjusted light-projecting period is an integral multiple of the ambient light period, and the light-projecting time in the adjusted light-projecting period is synchronous with the photographing time of the camera; and obtaining a point cloud image according to the adjusted light projection period. The method and the device can effectively reduce the phenomenon of the wavy point cloud with periodical change in the point cloud image, and obtain the point cloud image with higher quality.

Description

Point cloud image acquisition method, device, equipment and storage medium

Technical Field

The disclosure relates to the technical field of image processing, and in particular relates to a method, a device, equipment and a storage medium for acquiring a point cloud image.

Background

The application of point cloud images obtained by Three-dimensional (3D) cameras is becoming increasingly widespread.

At present, when a point cloud image is acquired through a 3D camera, periodically-changed wavy point clouds appear in the point cloud image, so that the quality of the acquired point cloud image is poor.

Disclosure of Invention

The disclosure provides a method, a device, equipment and a storage medium for acquiring a point cloud image, which are used for solving the problem that the quality of the acquired point cloud image is poor because periodically-changed wavy point clouds appear in the point cloud image when the point cloud image is acquired through a 3D camera.

In a first aspect, the present disclosure provides a point cloud image obtaining method, configured to obtain a point cloud image by using a camera, where the camera includes an optical engine, and a light projection period of the optical engine includes a dark time and a light projection time, where the point cloud image obtaining method includes:

acquiring an ambient light period of ambient light when a camera shoots;

according to the ambient light period, adjusting the duration of the dark time to obtain an adjusted light projection period, so that the adjusted light projection period is an integral multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera;

and obtaining a point cloud image according to the adjusted light projection period.

Optionally, obtaining the point cloud image according to the adjusted light projection period includes: acquiring a code set; based on the adjusted light projection period, controlling the optical machine to put the stripe image corresponding to the codes in the code set into a target object to obtain a first target stripe image corresponding to the codes in the code set; and obtaining a point cloud image according to the first target stripe image.

Optionally, obtaining the point cloud image according to the adjusted light projection period includes: based on the adjusted light projection period, controlling the optical machine to sequentially put the stripe image corresponding to the code in each code subset into a target object to obtain a second target stripe image corresponding to the code in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code subsets and a memory, and the memory is used for storing the codes; and obtaining a point cloud image according to the second target stripe image.

Optionally, the number of the code subsets and the codes in each code subset are determined according to the unit capacities of the code sets and the memory by using a first preset rule, including: determining the number of the coding subsets according to the coding capacity of the coding set and the unit capacity of the memory; determining the number of codes in the code subset as the ratio of the number of codes in the code subset to the number of code subsets; and sequentially taking codes of the code numbers from the code subsets according to the code numbers in the code subsets by preset difference values, determining the codes in the code subsets, wherein the codes in each code subset are completely different, and the preset difference values are products of the numbers of the code subsets and the difference values of the initial phases of the two adjacent codes in the code subsets respectively corresponding to the stripe images.

Optionally, obtaining a point cloud image according to the second target stripe image includes: obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset; and obtaining a point cloud image according to the main phase.

Optionally, obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the intensity of the ambient light corresponding to each coding subset includes: obtaining a main phase corresponding to the pixel point in the second target stripe image according to the following formula:

wherein n represents each second target stripe image; i _n (x, y) represents the corresponding light intensity at the position of the pixel point in the nth second target stripe image, which is (x, y); a is that _n (x, y) represents the intensity of the ambient light corresponding to the position (x, y) of the pixel point in the nth second target stripe image, and the intensity of the ambient light corresponding to the position (x, y) of the pixel point in the second target stripe image of the same code subset is the same; b (B) _n (x, y) represents the light intensity of the corresponding light machine light projection at the position of the pixel point in the nth second target stripe image being (x, y);representing the position of the pixel point as the corresponding main phase at the (x, y); delta _n The start phase of the nth second target fringe image is represented.

Optionally, obtaining the point cloud image according to the main phase includes: obtaining a target phase of the pixel point according to the main phase and the phase period; obtaining a target depth value of the pixel point according to the target phase; and obtaining a point cloud image according to the target depth value.

Optionally, acquiring an ambient light period of ambient light when the camera photographs, includes: determining a target alternating current frequency in response to a selection operation of the alternating current frequency corresponding to the camera; and acquiring the ambient light period of the ambient light when the camera shoots according to the target alternating current frequency.

Optionally, the projection mode of the camera includes a first projection mode and a second projection mode, the first projection mode corresponds to a first code set, the first code set includes a first number of codes, the second projection mode corresponds to a second code set, the second code set includes at least one second code subset, the second code set includes a second number of codes, the first number is smaller than the second number, and according to the adjusted projection period, the method includes: determining a first target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the first target projection mode is the first projection mode, a first coding set is obtained, based on the adjusted projection period, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, a first target stripe image corresponding to the codes in the first coding set is obtained, and a point cloud image is obtained according to the first target stripe image; if the first target projection mode is the second projection mode, based on the adjusted projection period, controlling the optical machine to sequentially put the stripe images corresponding to the codes in each second code subset into the target object to obtain second target stripe images corresponding to the codes in each second code subset, wherein the number of the second code subsets and the codes in each second code subset are determined according to the unit capacities of the second code set and the memory by adopting a first preset rule, and obtaining a point cloud image according to the second target stripe images.

Optionally, the number of codes of the first projection mode is less than or equal to the unit capacity of the memory, and the number of codes of the second projection mode is greater than the unit capacity of the memory.

Optionally, the projection mode further includes a third projection mode and a fourth projection mode, and the point cloud image acquiring method further includes: determining a second target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the second target projection mode is a third projection mode, a second coding subset is obtained, the light machine is controlled to sequentially put the stripe image corresponding to the codes in each second coding subset into a target object based on the light projection period of the light machine, a third target stripe image corresponding to the codes in each coding subset is obtained, and a point cloud image is obtained according to the third target stripe image; or if the second target projection mode is the third projection mode, acquiring a third code set, and based on the light projection period of the optical machine, controlling the optical machine to put the stripe image corresponding to the codes in the third code set to the target object to obtain a fourth target stripe image corresponding to the codes in the third code set, and obtaining a point cloud image according to the fourth target stripe image, wherein all the codes in the third code set are consistent with all the codes in the second code set in content; if the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to a first coding set, the first coding set is obtained, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, so that a fifth target stripe image corresponding to the codes in the first coding set is obtained; and obtaining a point cloud image according to the fifth target stripe image.

In a second aspect, the present disclosure provides a point cloud image acquisition apparatus for acquiring a point cloud image by a camera, the camera including an optical engine, a light projection period of the optical engine including a dark time and a light projection time, the point cloud image acquisition apparatus including:

the first acquisition module is used for acquiring an ambient light period of ambient light when the camera shoots;

the processing module is used for adjusting the duration of the dark time according to the ambient light period to obtain an adjusted light projection period, so that the adjusted light projection period is an integral multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera;

and the second acquisition module is used for acquiring a point cloud image according to the adjusted light projection period.

Optionally, the second obtaining module is specifically configured to: acquiring a code set; based on the adjusted light projection period, controlling the optical machine to put the stripe image corresponding to the codes in the code set into a target object to obtain a first target stripe image corresponding to the codes in the code set; and obtaining a point cloud image according to the first target stripe image.

Optionally, the second obtaining module is specifically configured to: based on the adjusted light projection period, controlling the optical machine to sequentially put the stripe image corresponding to the code in each code subset into a target object to obtain a second target stripe image corresponding to the code in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code subsets and a memory, and the memory is used for storing the codes; and obtaining a point cloud image according to the second target stripe image.

Optionally, the point cloud image acquisition device further includes a determining module, configured to: determining the number of the coding subsets according to the coding capacity of the coding set and the unit capacity of the memory; determining the number of codes in the code subset as the ratio of the number of codes in the code subset to the number of code subsets; and sequentially taking codes of the code numbers from the code subsets according to the code numbers in the code subsets by preset difference values, determining the codes in the code subsets, wherein the codes in each code subset are completely different, and the preset difference values are products of the numbers of the code subsets and the difference values of the initial phases of the two adjacent codes in the code subsets respectively corresponding to the stripe images.

Optionally, the second obtaining module is specifically configured to, when configured to obtain the point cloud image according to the second target stripe image: obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset; and obtaining a point cloud image according to the main phase.

Optionally, the second obtaining module is configured to, when obtaining the main phase corresponding to the pixel point in the second target stripe image according to the second target stripe image and the intensity of the ambient light corresponding to each encoding subset, specifically: obtaining a main phase corresponding to the pixel point in the second target stripe image according to the following formula:

Optionally, the second obtaining module is specifically configured to, when configured to obtain the point cloud image according to the main phase: obtaining a target phase of the pixel point according to the main phase and the phase period; obtaining a target depth value of the pixel point according to the target phase; and obtaining a point cloud image according to the target depth value.

Optionally, the first obtaining module is specifically configured to: determining a target alternating current frequency in response to a selection operation of the alternating current frequency corresponding to the camera; and acquiring the ambient light period of the ambient light when the camera shoots according to the target alternating current frequency.

Optionally, the projection mode of the camera includes a first projection mode and a second projection mode, the first projection mode corresponds to a first code set, the first code set includes a first number of codes, the second projection mode corresponds to a second code set, the second code set includes at least one second code subset, the second code set includes a second number of codes, the first number is smaller than the second number, and the second acquisition module is specifically configured to: determining a first target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the first target projection mode is the first projection mode, a first coding set is obtained, based on the adjusted projection period, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, a first target stripe image corresponding to the codes in the first coding set is obtained, and a point cloud image is obtained according to the first target stripe image; if the first target projection mode is the second projection mode, based on the adjusted projection period, controlling the optical machine to sequentially put the stripe images corresponding to the codes in each second code subset into the target object to obtain second target stripe images corresponding to the codes in each second code subset, wherein the number of the second code subsets and the codes in each second code subset are determined according to the unit capacities of the second code set and the memory by adopting a first preset rule, and obtaining a point cloud image according to the second target stripe images.

Optionally, the projection mode further includes a third projection mode and a fourth projection mode, and the second acquisition module is further configured to: determining a second target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the second target projection mode is a third projection mode, a second coding subset is obtained, the light machine is controlled to sequentially put the stripe image corresponding to the codes in each second coding subset into a target object based on the light projection period of the light machine, a third target stripe image corresponding to the codes in each coding subset is obtained, and a point cloud image is obtained according to the third target stripe image; or if the second target projection mode is the third projection mode, acquiring a third code set, and based on the light projection period of the optical machine, controlling the optical machine to put the stripe image corresponding to the codes in the third code set to the target object to obtain a fourth target stripe image corresponding to the codes in the third code set, and obtaining a point cloud image according to the fourth target stripe image, wherein all the codes in the third code set are consistent with all the codes in the second code set in content; if the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to a first coding set, the first coding set is obtained, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, so that a fifth target stripe image corresponding to the codes in the first coding set is obtained; and obtaining a point cloud image according to the fifth target stripe image.

In a third aspect, the present disclosure provides an electronic device comprising: a processor, a memory communicatively coupled to the processor;

the memory stores computer execution instructions and codes, and the codes are used for controlling the optical machine of the camera to put the stripe images corresponding to the codes into a target object;

the processor executes computer-executable instructions stored in the memory to implement the point cloud image acquisition method according to the first aspect of the present disclosure.

Optionally, the memory includes a first memory and/or a second memory; a first memory for storing codes of a first code set, the first code set being a code set corresponding to a first projection mode or a fourth projection mode of the camera; and the second memory is used for storing codes of a second code set, and the second code set is a code set corresponding to a second projection mode or a third projection mode of the camera.

Optionally, the memory further includes a third memory; and a third memory for storing codes of a third code set, the third code set being a code set corresponding to a third projection mode of the camera.

In a fourth aspect, the present disclosure provides a computer readable storage medium having stored therein computer program instructions which, when executed by a processor, implement a point cloud image acquisition method according to the first aspect of the present disclosure.

In a fifth aspect, the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the point cloud image acquisition method according to the first aspect of the present disclosure.

According to the point cloud image acquisition method, the device, the equipment and the storage medium, the duration of the dark time in the light-casting period of the optical machine is adjusted according to the ambient light period of ambient light when the camera shoots, and the adjusted light-casting period is obtained, so that the adjusted light-casting period is an integral multiple of the ambient light period, and the light-casting time in the adjusted light-casting period is synchronous with the shooting time of the camera; and obtaining a point cloud image according to the adjusted light projection period. Because the light projection period after adjustment is an integral multiple of the ambient light period, and the light projection time in the light projection period after adjustment is synchronous with the photographing time of the camera, the ambient light part of each stripe image shot by the camera can be effectively ensured to be identical, so that the main phase corresponding to each pixel point in the stripe image can be accurately obtained, the phenomenon of wave-shaped point cloud with periodical change in the point cloud image is effectively reduced, and the point cloud image with higher quality is obtained.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 (a) is a schematic diagram of a point cloud image including wavy point clouds according to the related art;

FIG. 1 (b) is a schematic diagram of a point cloud image provided by the related art, which does not include wavy point clouds;

FIG. 2 is a schematic diagram of a sine wave provided by the related art;

fig. 3 is a schematic view of an application scenario provided in an embodiment of the present disclosure;

fig. 4 is a flowchart of a method for acquiring a point cloud image according to an embodiment of the present disclosure;

fig. 5 is a schematic view illustrating a light projecting period of a light engine according to an embodiment of the disclosure;

FIG. 6 is a schematic diagram of a switching delay provided by an embodiment of the present disclosure;

fig. 7 is a flowchart of a method for acquiring a point cloud image according to another embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a memory used in different projection modes according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a memory for use in different projection modes provided by another embodiment of the present disclosure;

FIG. 10 is a schematic diagram of parameter settings of a camera according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a point cloud image acquiring apparatus according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of an electronic device provided in the present disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the information such as financial data or user data are in accordance with the regulations of related laws and regulations, and the public order is not violated.

At present, when a point cloud image is acquired through a 3D camera, periodically-changed wavy point clouds appear in the point cloud image, so that the quality of the acquired point cloud image is poor. For example, fig. 1 (a) is a schematic diagram of a point cloud image including a wavy point cloud provided in the related art, and as shown in fig. 1 (a), a point cloud image including a wavy point cloud is shown, and the quality of the point cloud image is greatly reduced due to the occurrence of the wavy point cloud. Fig. 1 (b) is a schematic diagram of a point cloud image provided by the related art and not including a wavy point cloud, and as shown in fig. 1 (b), the point cloud image not including the wavy point cloud is shown.

The inventor finds that the reason why wavy point clouds appear in the point cloud image is caused by the stroboscopic phenomenon in the process of improving the quality of the point cloud image. Taking the lamp as an example, 220V 50Hz alternating current is rectified into small-voltage direct current and then is transmitted to the lamp for operation. During rectification, the negative voltage portion of the sinusoidal alternating current is flipped over the time axis to become a positive voltage, which doubles the frequency of the alternating current, 50Hz to 100Hz. And then, the charge is periodically stored and released by using a capacitor, namely, the sine wave is subjected to capacitance smoothing treatment, so that the sine wave is smoothed, and the waveform of the sine wave is approximate to direct current. Fig. 2 is a schematic diagram of a sine wave provided by the related art, as shown in fig. 2, 201 is a sine wave before flattening, 202 is a sine wave after flattening, and the waveform of 202 is relatively gentle. However, some dc currents which exhibit an undesirable rectifier output can still see a periodic voltage change, which results in a lamp whose brightness is suddenly changing with voltage, which is also a source of ambient light instability. Currently, when the main item decoding is performed on the images acquired by the camera, it is assumed that the ambient light shot by each image is the same. Under the condition that the ambient light changes, the part of the ambient light shot by each image is different, so that the main item of the image is inaccurately decoded, the point cloud is in a wave shape (namely stroboscopic phenomenon), and the quality of the obtained point cloud image is poor.

Based on the above-mentioned problems, the present disclosure provides a method, an apparatus, a device, and a storage medium for acquiring a point cloud image, where the environmental light portion of each stripe image captured by a camera is ensured to be identical by adjusting the duration of the dark time in the light-projecting period of the light-machine according to the environmental light period of the environmental light when the camera captures a picture, so that the adjusted light-projecting period is an integer multiple of the environmental light period, and the adjusted light-projecting period is synchronized with the capturing time of the camera; on the basis, the condition that the coding capacity in the coding set is larger than the unit capacity of the memory is considered, the number of coding subsets contained in the coding set and the codes in the coding subsets are determined by adopting a preset rule according to the coding set and the unit capacity of the memory, so that the problem of switching delay generated when codes are read from the memories corresponding to different coding subsets can be avoided, the ambient light part of each stripe image shot by a camera is effectively ensured to be identical, the main phase corresponding to each pixel point in the stripe image can be accurately obtained, the phenomenon of periodically changing wavy point clouds in the point cloud image is effectively reduced, and the point cloud image with higher quality is obtained.

In the following, an application scenario of the solution provided in the present disclosure is first illustrated.

Fig. 3 is a schematic view of an application scenario provided in an embodiment of the present disclosure. As shown in fig. 3, in the present application scenario, a camera 301 is located in a periodically changing light source 302, a target object is photographed by the camera 301, and a point cloud image corresponding to the target object is obtained, where the obtained point cloud image does not include wavy point clouds. The camera 301 sends the point cloud image to the server 303 to use the point cloud image according to the traffic demand.

It should be noted that fig. 3 is only a schematic diagram of an application scenario provided by an embodiment of the present disclosure, and the embodiment of the present disclosure does not limit the devices included in fig. 3 or limit the positional relationship between the devices in fig. 3.

The technical scheme of the present disclosure is described in detail below through specific embodiments. It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 4 is a flowchart of a method for obtaining a point cloud image according to an embodiment of the present disclosure, where the method is used for obtaining the point cloud image by a camera, the camera includes an optical engine, and a light projection period of the optical engine includes a dark time and a light projection time. As shown in fig. 4, the method of the embodiment of the present disclosure includes:

S401, acquiring an ambient light period of ambient light when a camera shoots.

In this step, the ambient light is assumed to be generated by rectifying ac power into dc power when the camera takes a photograph, and the period of ambient light corresponds to twice the ac power frequency of the country in which the camera takes a photograph. It will be appreciated that the ac frequencies in different countries are different, with one country using an ac frequency of say 50Hz and another country using an ac frequency of say 60Hz. Taking an example where the ac frequency is 50Hz, the ac frequency of 50Hz corresponds to an ambient light period of 10ms (i.e., corresponds to 100 Hz).

Further, optionally, acquiring an ambient light period of ambient light when the camera photographs may include: determining a target alternating current frequency in response to a selection operation of the alternating current frequency corresponding to the camera; and acquiring the ambient light period of the ambient light when the camera shoots according to the target alternating current frequency.

For example, the alternating current frequency corresponding to the camera may be manually set, and accordingly, the electronic device executing the embodiment of the method may determine the target alternating current frequency in response to the selection operation of the alternating current frequency corresponding to the camera, where the target alternating current frequency is, for example, 50Hz; according to the target alternating current frequency of 50Hz, the ambient light period of the ambient light when the camera takes a picture can be obtained to be 10ms.

S402, adjusting the duration of the dark time according to the ambient light period to obtain an adjusted light projection period, so that the adjusted light projection period is an integer multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera.

In this step, after the ambient light period is determined, the duration of the dark time in the light projection period may be adjusted according to the ambient light period, so that the adjusted light projection period is an integer multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronized with the photographing time of the camera.

Wherein the dark time includes a pre-light-projection dark time and/or a post-light-projection dark time.

In some embodiments, the duration of the dark time before the light projection and/or the duration of the dark time after the light projection can be adjusted to synchronize the light projection time in the adjusted light projection period with the photographing time of the camera.

Fig. 5 is a schematic diagram illustrating a light projection period of a light engine according to an embodiment of the present disclosure, as shown in fig. 5, a projection mode of a camera is a normal Fast (Fast) mode, that is, a number of codes in a code set of the camera is, for example, four, smaller than a unit capacity of a memory, and accordingly, the light engine projects four stripe images (that is, light projection times corresponding to (1), (2), (3) and (4) in fig. 5) at a time to a target object to be photographed, where the stripe images are, for example, sine stripe images or cosine stripe images. The light projection period of the light engine comprises a dark time and a light projection time (i.e. 501), wherein the dark time comprises a dark time before light projection (i.e. 502) and a dark time after light projection (i.e. 503). The light projecting time is the time of the real image projection, and determines the photographing time of the camera. The ambient light period of the ambient light is 10ms, i.e. t=10 ms in fig. 5, corresponding to an alternating current frequency f=100 Hz. According to the ambient light period, the duration of the dark time after light projection (i.e. the duration of the adjustment dark time) is prolonged, so that the prolonged light projection period is an integer multiple of the ambient light period, the light projection time in the adjusted light projection period is synchronous with the photographing time (i.e. 504) of the camera, the ambient light part of each stripe image photographed by the camera can be ensured to be identical, and the main phase corresponding to each pixel point in the stripe image can be accurately obtained. Optionally, if the light projection period of the optical machine includes light projection time and dark time after light projection, adjusting the duration of the dark time after light projection to obtain the adjusted light projection period.

Illustratively, the duration of the light projecting time (i.e., the light projecting duration) may be manually set, and the length of the light projecting duration is related to the amount of incident light. When the target object is a highly reflective object, if the incident light amount is too large, high reflection is easily generated, so that the quality of the point cloud image is reduced.

S403, obtaining a point cloud image according to the adjusted light projection period.

In this step, after the adjusted light projection period is obtained, a point cloud image may be obtained according to the adjusted light projection period.

Further, optionally, obtaining the point cloud image according to the adjusted light projection period may include: acquiring a code set; based on the adjusted light projection period, controlling the optical machine to put the stripe image corresponding to the codes in the code set into a target object to obtain a first target stripe image corresponding to the codes in the code set; and obtaining a point cloud image according to the first target stripe image.

For example, the code sets may be pre-stored according to service requirements, where in each stripe image corresponding to each code in the code set, the starting phase of the former stripe image is greater than the starting phase of the latter stripe image by a preset value. Assuming that the total number of stripe images corresponding to the encoding set is represented by N, the preset value is: 2 pi/N, i.e. to ensure that the same set of stripe images can cover the complete 2 pi period. The electronic device executing the method can obtain the code set, and based on the adjusted light projection period, the optical machine is controlled to put the stripe image corresponding to each code in the code set to the target object, so as to obtain the first target stripe image corresponding to each code in the code set. Specifically, assuming that the code set includes four codes, four first target stripe images can be obtained, and then a main phase corresponding to a position where each pixel point in the first target stripe images is located can be obtained according to the four first target stripe images. Based on the main phase, a point cloud image can be obtained.

According to the point cloud image acquisition method provided by the embodiment of the disclosure, according to the ambient light period of ambient light when a camera shoots, the duration of the dark time in the light projecting period of the optical machine is adjusted to obtain the adjusted light projecting period, so that the adjusted light projecting period is an integral multiple of the ambient light period, and the light projecting time in the adjusted light projecting period is synchronous with the shooting time of the camera; and obtaining a point cloud image according to the adjusted light projection period. In the embodiment of the disclosure, the adjusted light projection period is an integer multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera, so that the ambient light part of each stripe image photographed by the camera can be effectively ensured to be identical, the main phase corresponding to each pixel point in the stripe image can be accurately obtained, the phenomenon of the wavy point cloud with periodical change in the point cloud image is effectively reduced, and the point cloud image with higher quality is obtained.

In some embodiments, the code is stored in memory, but because memory has a limit on storage capacity, it is desirable to configure the code according to the code capacity and the unit capacity of memory.

For example, when the projection mode of the camera is a normal precision (Accurate) mode, for example, the encoding set of the normal precision mode contains a larger number of codes than the encoding set of the normal fast mode, for example, the encoding set of the normal precision mode contains eight codes, the photographing process can secure photographing accuracy using eight stripe images obtained by the eight codes, and the unit capacity of the memory is for example, to store six codes. According to the present storage method, the first four codes among eight codes included in the code set are stored in one memory, and the last four codes are stored in the other memory, and thus, a switching delay is generated when the codes included in the code set are switched and read from the two memories because of the two memories stored. Fig. 6 is a schematic diagram of switching delay provided in an embodiment of the present disclosure, as shown in fig. 6, based on a light projection period (i.e., a light projection time 501, a light projection front dark time 502, and a light projection rear dark time 503) of the light machine of fig. 5 and a photographing time 504 of the camera, when the first four codes included in the code set are read from the first memory and the second four codes included in the code set are read from the second memory, a switching delay of 1.5ms is generated, so that the stripe images corresponding to the first four codes captured by the camera are different from the ambient light portion of the stripe images corresponding to the first four codes.

In order to solve the problem of switching delay generated when the encoding capacity in the encoding set is greater than the unit capacity of the memory, fig. 7 is a flowchart of a method for acquiring a point cloud image according to another embodiment of the present disclosure. As shown in fig. 7, a method of an embodiment of the present disclosure may include:

s701, acquiring an ambient light period of ambient light when a camera shoots.

A detailed description of this step may be referred to as a related description of S401 in the embodiment shown in fig. 4, which is not repeated here.

S702, adjusting the duration of the dark time according to the ambient light period to obtain an adjusted light projection period, so that the adjusted light projection period is an integer multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera.

A detailed description of this step may be referred to the related description of S402 in the embodiment shown in fig. 4, which is not repeated here.

In the embodiment of the present disclosure, the step S403 in fig. 4 may further include two steps S703 and S704 as follows:

s703, based on the adjusted light projection period, controlling the optical machine to sequentially put the stripe image corresponding to the codes in each code subset into a target object to obtain a second target stripe image corresponding to the codes in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code subsets and the memory.

Wherein the memory is used for storing the code.

In one possible implementation, the number of the code subsets and the codes in each code subset are determined according to the unit capacities of the code sets and the memory, using a first preset rule, and may include: determining the number of the coding subsets according to the coding capacity in the coding set and the unit capacity of the memory; determining the number of codes in the code subset as the ratio of the number of codes in the code subset to the number of code subsets; and sequentially taking codes of the code numbers from the code subsets according to the code numbers in the code subsets by preset difference values, determining the codes in the code subsets, wherein the codes in each code subset are completely different, and the preset difference values are products of the numbers of the code subsets and the difference values of the initial phases of the two adjacent codes in the code subsets respectively corresponding to the stripe images.

Illustratively, the coding capacity in the coding set is represented by, for example, eight codes, code 1, code 2, code 3, code 4, code 5, code 6, code 7, and code 8, respectively. The initial phase of the stripe image corresponding to the code 1 is 0, the initial phase of the stripe image corresponding to the code 2 is 2 pi/8, the initial phase of the stripe image corresponding to the code 3 is 4 pi/8, the initial phase of the stripe image corresponding to the code 4 is 6 pi/8, the initial phase of the stripe image corresponding to the code 5 is 8 pi/8, the initial phase of the stripe image corresponding to the code 6 is 10 pi/8, the initial phase of the stripe image corresponding to the code 7 is 12 pi/8, and the initial phase of the stripe image corresponding to the code 8 is 14 pi/8. The difference value of the initial phases of the stripe images corresponding to two adjacent codes in the code set is 2 pi/8. The unit capacity of the memory is, for example, to store six codes. The number of encoded subsets comprised by the encoded set may be determined to be two. From the ratio of the number of codes in the code set to the number of code subsets, the number of codes in each code subset can be determined to be four. By performing the average allocation processing on the codes in the code set, the uniformity of the memory storage capacity can be improved when the codes in the code set are stored using the memory. According to the difference value between the number of the code subsets and the initial phases of the stripe images respectively corresponding to the adjacent two codes in the code set, the preset difference value can be determined as the product of the number of the code subsets and the difference value between the initial phases of the stripe images respectively corresponding to the adjacent two codes in the code set, namely 4 pi/8. Therefore, according to the number of codes in the code subsets, the codes of the number of codes are sequentially taken from the code subsets by a preset difference value, and the codes in each code subset are determined, namely, the codes in the first code subset are code 1, code 3, code 5 and code 7, and the codes in the second code subset are code 2, code 4, code 6 and code 8, wherein the codes in the code subsets are completely different. In the above manner, the pattern projection manner of the optical machine is that stripe images corresponding to codes 1 to 8 are projected to the target object from the current sequence, and the stripe images corresponding to codes 1, 3, 5, 7, 2, 4, 6 and 8 are updated to be projected to the target object, wherein the ambient light portions of the stripe images corresponding to codes 1, 3, 5 and 7 are identical, and the ambient light portions of the stripe images corresponding to codes 2, 4, 6 and 8 are identical.

Alternatively, the codes in each code subset may be stored in a corresponding memory according to the number of code subsets.

Based on the example of step S703 described above, the number of code subsets included in the code set is two, and code 1, code 3, code 5, and code 7 included in the first code subset may be stored in one memory, and code 2, code 4, code 6, and code 8 included in the second code subset may be stored in another memory, i.e., one code subset corresponds to one memory.

In the step, after determining the codes in each code subset, the optical machine can be controlled to sequentially put the stripe image corresponding to the codes in each code subset into the target object based on the adjusted light projecting period, so as to obtain a second target stripe image corresponding to the codes in each code subset.

S704, obtaining a point cloud image according to the second target stripe image.

In this step, after the second target stripe image is obtained, a point cloud image may be obtained from the second target stripe image.

Further, optionally, obtaining a point cloud image according to the second target stripe image may include: obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset; and obtaining a point cloud image according to the main phase.

It can be understood that the light intensities of the ambient light corresponding to different code subsets may be different, and a main phase corresponding to a pixel point in the second target stripe image may be obtained according to the second target stripe image and the light intensities of the ambient light corresponding to each code subset, so as to obtain a point cloud image according to the main phase.

Optionally, obtaining the main phase corresponding to the pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset may include: obtaining a main phase corresponding to the pixel point in the second target stripe image according to the following formula:

Illustratively, based on the example of step S703 described above, the code set contains two code subsets, the first code subset containing code 1, code 3, code 5, and code 7, and the second code subset containing code 2, code 4, code 6, and code 8. Let the intensity of the ambient light corresponding to the first code subset be A ₁ The ambient light parts of the stripe images corresponding to the four codes in the first code subset are the same; the intensity of the ambient light corresponding to the second code subset is A ₂ Meaning that the ambient light portions of the four encoded respectively corresponding fringe images in the second encoded subset are identical. Based on the above formula, for the firstEach code in the code subsets corresponds to a stripe image respectively, and a main phase corresponding to a pixel point in the stripe image can be obtained through the following formula:

and for each stripe image corresponding to each code in the second code subset, obtaining a main phase corresponding to the pixel point in the stripe image through the following formula II:

wherein a is ₁ ＝A ₁ (x,y)，a ₂ ＝A ₂ (x,y)，

Based on the first and second formulas, for eight codes in the first and second code subsets, the main phase of the pixel point in the eight stripe images corresponding to the eight codes respectively can be obtained by the following formula three:

The above equation three contains eight equations, a ₁ 、a ₂ 、b ₁ And b ₂ For the unknowns to be solved, four unknowns are solved by eight equations, and the solution is needed by a pseudo-inverse matrix. Specifically, the above formula three is represented by the following formula four:

mx=k equation four

Wherein M representsx represents->k represents->

Further, the above formula four is converted into the following formula five:

M ^T Mx＝M ^T k formula five

Further, the above formula five is converted into the following formula six:

wherein, (M) ^T M) ^-1 M ^T I.e. the pseudo-inverse.

Based on the above formula six, the main phase can be obtained/>

Optionally, obtaining the point cloud image according to the main phase may include: obtaining a target phase of the pixel point according to the main phase and the phase period; obtaining a target depth value of the pixel point according to the target phase; and obtaining a point cloud image according to the target depth value.

For example, after the main phase is obtained, the current related art may be referred to, and the target phase of each pixel is obtained according to the main phase and the phase period, that is, the complete phase of each pixel is obtained. According to the complete phase of each pixel point, a target depth value of each pixel point can be obtained, and then a point cloud image is obtained according to the target depth value of each pixel point.

According to the point cloud image acquisition method provided by the embodiment of the disclosure, according to the ambient light period of ambient light when a camera shoots, the duration of the dark time in the light projecting period of the optical machine is adjusted to obtain the adjusted light projecting period, so that the adjusted light projecting period is an integral multiple of the ambient light period, and the light projecting time in the adjusted light projecting period is synchronous with the shooting time of the camera; based on the adjusted light projection period, controlling the optical machine to sequentially put the stripe image corresponding to the code in each code subset into a target object to obtain a second target stripe image corresponding to the code in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code subsets and the memory; and obtaining a point cloud image according to the second target stripe image. According to the embodiment of the disclosure, when the coding capacity in the coding set is considered to be larger than the unit capacity of the memory on the basis of adjusting the light projection period according to the ambient light period, the number of coding subsets contained in the coding set and the coding in each coding subset are determined according to the unit capacities of the coding set and the memory by adopting the preset rule, so that the problem of switching delay generated when codes are read from the memory corresponding to different coding subsets can be avoided, the ambient light part of each stripe image shot by a camera is effectively ensured to be identical, the main phase corresponding to each pixel point in the stripe image can be accurately obtained, the phenomenon of periodically changing wavy point clouds in the point cloud image is effectively reduced, and the point cloud image with higher quality is obtained.

On the basis of the foregoing embodiment, optionally, the projection mode of the camera may include a first projection mode and a second projection mode, where the first projection mode corresponds to a first code set, the first code set includes a first number of codes, the second projection mode corresponds to a second code set, the second code set includes at least one second code subset, the second code set includes a second number of codes, the first number is smaller than the second number, and obtaining the point cloud image according to the adjusted light projection period may include: determining a first target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the first target projection mode is the first projection mode, a first coding set is obtained, based on the adjusted projection period, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, a first target stripe image corresponding to the codes in the first coding set is obtained, and a point cloud image is obtained according to the first target stripe image; if the first target projection mode is the second projection mode, based on the adjusted projection period, controlling the optical machine to sequentially put the stripe images corresponding to the codes in each second code subset into the target object to obtain second target stripe images corresponding to the codes in each second code subset, wherein the number of the second code subsets and the codes in each second code subset are determined according to the unit capacities of the second code set and the memory by adopting a first preset rule, and obtaining a point cloud image according to the second target stripe images.

Illustratively, the first number is, for example, four codes, the second number is, for example, eight codes, and the unit capacity of the memory is, for example, six codes stored. If the first target projection mode is the first projection mode, four codes in the first code set can be obtained from the memory, the light machine is controlled to put stripe images corresponding to the four codes in the first code set into the target object based on the adjusted light projection period, the first target stripe images corresponding to the four codes in the first code set are obtained, and then the point cloud image can be obtained according to the first target stripe images. The first projection mode may be understood as a fast mode of anti-strobe.

If the first target projection mode is the second projection mode, referring to the example of step S703 in the above embodiment, the codes in the second code set include code 1, code 3, code 5, code 7, code 2, code 4, code 6, and code 8, and the second code set includes two second code subsets, the first second code subset includes code 1, code 3, code 5, and code 7, and the second code subset includes code 2, code 4, code 6, and code 8; after the second coding subset is determined, the optical machine can be controlled to sequentially put the stripe image corresponding to the codes in each second coding subset into the target object based on the adjusted light projection period, so that a second target stripe image corresponding to the codes in each second coding subset is obtained, and further, a point cloud image is obtained according to the second target stripe image. The second projection mode may be understood as a stroboscopic resistant precision mode.

Illustratively, the number of codes of the first projection mode is, for example, four codes, the number of codes of the second projection mode is, for example, eight codes, and the unit capacity of the memory is, for example, six codes stored, then the number of codes of the first projection mode is less than or equal to the unit capacity of the memory, and the number of codes of the second projection mode is greater than the unit capacity of the memory.

On the basis of the above embodiment, optionally, the projection mode of the camera may further include a third projection mode and a fourth projection mode, and the method for acquiring a point cloud image provided by the embodiment of the present disclosure may further include: determining a second target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the second target projection mode is a third projection mode, a second coding subset is obtained, the light machine is controlled to sequentially put the stripe image corresponding to the codes in each second coding subset into a target object based on the light projection period of the light machine, a third target stripe image corresponding to the codes in each coding subset is obtained, and a point cloud image is obtained according to the third target stripe image; or if the second target projection mode is the third projection mode, acquiring a third code set, and based on the light projection period of the optical machine, controlling the optical machine to put the stripe image corresponding to the codes in the third code set to the target object to obtain a fourth target stripe image corresponding to the codes in the third code set, and obtaining a point cloud image according to the fourth target stripe image, wherein all the codes in the third code set are consistent with all the codes in the second code set in content; if the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to a first coding set, the first coding set is obtained, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, so that a fifth target stripe image corresponding to the codes in the first coding set is obtained; and obtaining a point cloud image according to the fifth target stripe image.

It can be understood that the third projection mode is the normal precise mode in the above embodiment, and the encoding set of the normal precise mode includes a greater number of codes than the encoding set of the normal fast mode.

As an alternative implementation of the third projection mode, a third encoding set may be used, which is the encoding set used in the normal precision mode in the related art. The encoding in the third encoding set includes: code 1, code 2, code 3, code 4, code 5, code 6, code 7, and code 8. Fig. 8 is a schematic diagram of a memory used in different projection modes according to an embodiment of the disclosure, as shown in fig. 8, if a unit capacity of the memory is, for example, six codes stored, it may be determined that the third code set includes two third code subsets according to codes in the third code set, where the first third code subset includes codes 1, 2, 3 and 4, and the second third code subset includes codes 5, 6, 7 and 8. When the third projection mode uses the third code set, the third projection mode occupies two third memories, and one first memory occupied by the first projection mode and the fourth projection mode and two second memories occupied by the second projection mode are added, and at this time, the four projection modes need five memories in total to store codes.

As an alternative to the third projection mode, a second set of codes may be used, i.e. the same set of codes as the second projection mode. The second code set is identical to the third code set in that the stored codes are only stored in a different order, so that the codes of the second code set can be used for projection in a normal exact mode. Fig. 9 is a schematic diagram of a memory used in different projection modes according to another embodiment of the present disclosure, as shown in fig. 9, when the third projection mode uses the second code set, the third projection mode and the second projection mode occupy two second memories, and one first memory occupied by the first projection mode and the fourth projection mode is added, and at this time, the four projection modes need three memories in total to store codes. In this way, compared with the mode of using the third code set, two third memories for separately storing the third code set can be omitted, thereby achieving the effect of saving the storage space.

The fourth projection mode is the normal fast mode in the above embodiment, where the number of codes included in the code set of the normal fast mode is smaller than the number of codes included in the code set of the normal precise mode. If the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to a first code set, the number of codes of the first code set is four, for example, the unit capacity of the memory is six codes, the first code set can be obtained from the memory, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first code set into the target object to obtain a fifth target stripe image corresponding to the codes in the first code set; and obtaining a point cloud image according to the fifth target stripe image.

On the basis of the above embodiment, fig. 10 is a schematic diagram of parameter setting of a camera according to an embodiment of the present disclosure, where, as shown in fig. 10, the 3D parameters of the camera include a projection parameter, and the projection parameter is used to determine a projection mode of the camera, where the projection mode is, for example, a stroboscopic-resistant mode included in the projection parameter, and the stroboscopic-resistant mode is, for example, a stroboscopic-resistant fast mode or a stroboscopic-resistant precise mode in the above embodiment. The user can set the anti-stroboscopic mode and select the alternating current (Alternating Current, AC) frequency to be 50Hz, so that a high-quality point cloud image can be obtained by the point cloud image acquisition method provided by the embodiment of the disclosure.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.

Fig. 11 is a schematic structural diagram of a point cloud image acquiring device according to an embodiment of the present disclosure, configured to acquire a point cloud image through a camera, where the camera includes an optical engine, and a light projecting period of the optical engine includes a dark time and a light projecting time. As shown in fig. 11, a point cloud image acquisition apparatus 1100 of an embodiment of the present disclosure includes: a first acquisition module 1101, a processing module 1102, and a second acquisition module 1103. Wherein:

The first obtaining module 1101 is configured to obtain an ambient light period of ambient light when the camera photographs.

The processing module 1102 is configured to adjust a duration of the dark time according to the ambient light period, so as to obtain an adjusted light projection period, so that the adjusted light projection period is an integer multiple of the ambient light period, and the light projection time in the adjusted light projection period is synchronous with the photographing time of the camera.

The second obtaining module 1103 is configured to obtain a point cloud image according to the adjusted light projection period.

In some embodiments, the second acquisition module 1103 may be specifically configured to: acquiring a code set; based on the adjusted light projection period, controlling the optical machine to put the stripe image corresponding to the codes in the code set into a target object to obtain a first target stripe image corresponding to the codes in the code set; and obtaining a point cloud image according to the first target stripe image.

In some embodiments, the second acquisition module 1103 may be specifically configured to: based on the adjusted light projection period, controlling the optical machine to sequentially put the stripe image corresponding to the code in each code subset into a target object to obtain a second target stripe image corresponding to the code in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code subsets and a memory, and the memory is used for storing the codes; and obtaining a point cloud image according to the second target stripe image.

Optionally, the point cloud image capturing apparatus 1100 may further include a determining module 1104 configured to: determining the number of the coding subsets according to the coding capacity of the coding set and the unit capacity of the memory; determining the number of codes in the code subset as the ratio of the number of codes in the code subset to the number of code subsets; and sequentially taking codes of the code numbers from the code subsets according to the code numbers in the code subsets by preset difference values, determining the codes in the code subsets, wherein the codes in each code subset are completely different, and the preset difference values are products of the numbers of the code subsets and the difference values of the initial phases of the two adjacent codes in the code subsets respectively corresponding to the stripe images.

Optionally, the second obtaining module 1103 may be specifically configured to, when configured to obtain the point cloud image according to the second target stripe image: obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset; and obtaining a point cloud image according to the main phase.

Optionally, the second obtaining module 1103 may be specifically configured to, when obtaining the main phase corresponding to the pixel point in the second target stripe image according to the second target stripe image and the intensity of the ambient light corresponding to each encoding subset: obtaining a main phase corresponding to the pixel point in the second target stripe image according to the following formula:

In some embodiments, the second obtaining module 1103, when configured to obtain the point cloud image according to the main phase, may be specifically configured to: obtaining a target phase of the pixel point according to the main phase and the phase period; obtaining a target depth value of the pixel point according to the target phase; and obtaining a point cloud image according to the target depth value.

Optionally, the first obtaining module 1101 may be specifically configured to: determining a target alternating current frequency in response to a selection operation of the alternating current frequency corresponding to the camera; and acquiring the ambient light period of the ambient light when the camera shoots according to the target alternating current frequency.

In some embodiments, the projection modes of the camera include a first projection mode and a second projection mode, the first projection mode corresponding to a first set of codes, the first set of codes including a first number of codes, the second projection mode corresponding to a second set of codes, the second set of codes including at least one second subset of codes, the second set of codes including a second number of codes, the first number being less than the second number, the second acquisition module 1103 may be specifically configured to: determining a first target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the first target projection mode is the first projection mode, a first coding set is obtained, based on the adjusted projection period, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, a first target stripe image corresponding to the codes in the first coding set is obtained, and a point cloud image is obtained according to the first target stripe image; if the first target projection mode is the second projection mode, based on the adjusted projection period, controlling the optical machine to sequentially put the stripe images corresponding to the codes in each second code subset into the target object to obtain second target stripe images corresponding to the codes in each second code subset, wherein the number of the second code subsets and the codes in each second code subset are determined according to the unit capacities of the second code set and the memory by adopting a first preset rule, and obtaining a point cloud image according to the second target stripe images.

Optionally, the projection modes further include a third projection mode and a fourth projection mode, and the second obtaining module 1103 may be further configured to: determining a second target projection mode in response to a selection operation of a projection mode corresponding to the camera; if the second target projection mode is a third projection mode, a second coding subset is obtained, the light machine is controlled to sequentially put the stripe image corresponding to the codes in each second coding subset into a target object based on the light projection period of the light machine, a third target stripe image corresponding to the codes in each coding subset is obtained, and a point cloud image is obtained according to the third target stripe image; or if the second target projection mode is the third projection mode, acquiring a third code set, and based on the light projection period of the optical machine, controlling the optical machine to put the stripe image corresponding to the codes in the third code set to the target object to obtain a fourth target stripe image corresponding to the codes in the third code set, and obtaining a point cloud image according to the fourth target stripe image, wherein all the codes in the third code set are consistent with all the codes in the second code set in content; if the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to a first coding set, the first coding set is obtained, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into the target object, so that a fifth target stripe image corresponding to the codes in the first coding set is obtained; and obtaining a point cloud image according to the fifth target stripe image.

The device of the present embodiment may be used to execute the technical solution of any of the above-described method embodiments, and its implementation principle and technical effects are similar, and are not described herein again.

Fig. 12 is a schematic structural diagram of an electronic device provided in the present disclosure, which may be, for example, a camera when implementing the method for acquiring a point cloud image described in the foregoing method embodiment. As shown in fig. 12, the electronic device 1200 may include: at least one processor 1201 and memory 1202.

A memory 1202 for storing programs and code. In particular, the program may include program code including computer-executable instructions. Encoding the light engine for the processor 1201 controls the camera to put the encoded corresponding stripe image to the target object.

The memory 1202 may include high-speed random access memory (Random Access Memory, RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 1201 is configured to execute computer-executable instructions stored in the memory 1202 to implement the point cloud image acquisition method described in the foregoing method embodiments. The processor 1201 may be a central processing unit (Central Processing Unit, CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure.

Optionally, the electronic device 1200 may further comprise a communication interface 1203. In a specific implementation, if the communication interface 1203, the memory 1202 and the processor 1201 are implemented independently, the communication interface 1203, the memory 1202 and the processor 1201 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. Buses may be divided into address buses, data buses, control buses, etc., but do not represent only one bus or one type of bus.

Alternatively, in a specific implementation, if the communication interface 1203, the memory 1202 and the processor 1201 are integrated on a chip, the communication interface 1203, the memory 1202 and the processor 1201 may complete communication through internal interfaces.

Optionally, the memory 1202 may include a first memory and/or a second memory (not shown in fig. 12); a first memory for storing codes of a first code set, the first code set being a code set corresponding to a first projection mode or a fourth projection mode of the camera; and the second memory is used for storing codes of a second code set, and the second code set is a code set corresponding to a second projection mode or a third projection mode of the camera.

Illustratively, referring to fig. 9, a first set of codes corresponding to the first projection mode or the fourth projection mode includes code 1, code 2, code 3, and code 4, stored in a first memory; the second set of codes corresponding to the second projection mode or the third projection mode includes code 1, code 3, code 5, code 7, code 2, code 4, code 6, code 8, and is stored in two second memories.

Optionally, the memory 1202 may also include a third memory (not shown in fig. 12); and a third memory for storing codes of a third code set, the third code set being a code set corresponding to a third projection mode of the camera. Illustratively, referring to fig. 8, for the case where the second code set is not used in the third projection mode, a third memory is added to the first memory and the second memory for storing codes of the third code set, where the codes of the third code set include code 1, code 2, code 3, code 4, code 5, code 6, code 7, and code 8. Comparing the memories used in the examples of fig. 8 and 9, a significant saving in memory space can be achieved in the case where the second set of codes is used in the third projection mode.

The present disclosure also provides a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, implement the above-described aspects of a point cloud image acquisition method.

The present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements aspects of the point cloud image acquisition method as above.

The computer readable storage medium described above may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC). Of course, the processor and the readable storage medium may reside as discrete components in a point cloud image acquisition apparatus.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for acquiring a point cloud image, the method being characterized by being used for acquiring the point cloud image by a camera, wherein the camera comprises a light machine, a light projection period of the light machine comprises dark time and light projection time, and the method comprises the following steps:

Acquiring an ambient light period of ambient light when the camera photographs;

2. The method according to claim 1, wherein the obtaining the point cloud image according to the adjusted light projection period includes:

acquiring a code set;

based on the adjusted light projection period, controlling the optical machine to put the stripe image corresponding to the codes in the code set into a target object to obtain a first target stripe image corresponding to the codes in the code set;

and obtaining the point cloud image according to the first target stripe image.

3. The method according to claim 2, wherein the obtaining the point cloud image according to the adjusted light projection period includes:

based on the adjusted light projecting period, controlling the optical machine to sequentially put the stripe image corresponding to the codes in each code subset into a target object to obtain a second target stripe image corresponding to the codes in each code subset; the number of the code subsets and the codes in each code subset are determined by adopting a first preset rule according to the unit capacities of the code sets and a memory, and the memory is used for storing the codes;

And obtaining the point cloud image according to the second target stripe image.

4. The method of claim 3, wherein the number of encoded subsets and the encoding in each encoded subset are determined according to a unit capacity of the encoded set and the memory using a first predetermined rule, comprising:

determining the number of the coding subsets according to the coding capacity of the coding set and the unit capacity of the memory;

determining the number of codes in the code subset as a ratio of the number of codes in the code set to the number of code subsets;

and sequentially taking codes of the code numbers from the code subsets according to the code numbers in the code subsets by a preset difference value, determining the codes in the code subsets, wherein the codes in each code subset are completely different, and the preset difference value is the product of the number of the code subsets and the difference value of the initial phases of the corresponding fringe images of two adjacent codes in the code subsets.

5. The method of claim 3, wherein the obtaining the point cloud image from the second target stripe image includes:

Obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the ambient light intensity corresponding to each coding subset;

and obtaining the point cloud image according to the main phase.

6. The method of claim 5, wherein the obtaining a main phase corresponding to a pixel point in the second target stripe image according to the second target stripe image and the intensity of the ambient light corresponding to each of the encoded subsets includes:

obtaining a main phase corresponding to the pixel point in the second target stripe image according to the following formula:

wherein n represents each of the second target fringe images; i _n (x, y) represents the corresponding light intensity at the position of the pixel point in the nth second target stripe image, which is (x, y); a is that _n (x, y) represents the intensity of the ambient light corresponding to the position (x, y) of the pixel point in the nth second target stripe image, and the intensity of the ambient light corresponding to the position (x, y) of the pixel point in the second target stripe image of the same code subset is the same; b (B) _n (x, y) represents the light intensity of the light machine projected light corresponding to the position (x, y) of the pixel point in the nth second target stripe image; Representing the position of the pixel point as the corresponding main phase at the (x, y); delta _n The start phase of the nth second target fringe image is represented.

7. The method of claim 5, wherein the obtaining the point cloud image according to the main phase includes:

obtaining a target phase of the pixel point according to the main phase and the phase period;

obtaining a target depth value of the pixel point according to the target phase;

and obtaining the point cloud image according to the target depth value.

8. The method according to any one of claims 1 to 7, wherein the acquiring the ambient light period of the ambient light when the camera takes a photograph includes:

determining a target alternating current frequency in response to a selection operation facing the alternating current frequency corresponding to the camera;

and acquiring the ambient light period of the ambient light when the camera shoots according to the target alternating current frequency.

9. The point cloud image acquisition method of any of claims 1 to 7, wherein the projection mode of the camera comprises a first projection mode and a second projection mode, the first projection mode corresponding to a first encoding set, the first encoding set containing a first number of encodings, the second projection mode corresponding to a second encoding set, the second encoding set comprising at least one second encoding subset, the second encoding set containing a second number of encodings, the first number being less than the second number, the obtaining a point cloud image according to the adjusted light projection period comprising:

Determining a first target projection mode in response to a selection operation facing a projection mode corresponding to the camera;

if the first target projection mode is a first projection mode, acquiring the first coding set, controlling the optical machine to put a stripe image corresponding to the codes in the first coding set into a target object based on the adjusted projection period to obtain a first target stripe image corresponding to the codes in the first coding set, and obtaining the point cloud image according to the first target stripe image;

and if the first target projection mode is a second projection mode, controlling the optical machine to sequentially put the stripe image corresponding to the codes in each second code subset into the target object based on the adjusted projection period to obtain second target stripe images corresponding to the codes in each second code subset, wherein the number of the second code subsets and the codes in each second code subset are determined according to the unit capacities of the second code set and a memory by adopting a first preset rule, and obtaining the point cloud image according to the second target stripe images.

10. The point cloud image acquisition method according to any one of claims 9, wherein the number of codes of the first projection mode is smaller than or equal to a unit capacity of the memory, and the number of codes of the second projection mode is larger than the unit capacity of the memory.

11. The point cloud image acquisition method according to any one of claims 9, wherein the projection mode further includes a third projection mode and a fourth projection mode, the point cloud image acquisition method further comprising:

determining a second target projection mode in response to a selection operation facing the projection mode corresponding to the camera;

if the second target projection mode is a third projection mode, acquiring the second coding subset, and controlling the optical machine to sequentially put stripe images corresponding to codes in each second coding subset into a target object based on a light projection period of the optical machine to acquire a third target stripe image corresponding to the codes in each coding subset, wherein the point cloud image is acquired according to the third target stripe image; or if the second target projection mode is a third projection mode, a third coding set is obtained, based on a light projection period of the optical machine, the optical machine is controlled to put a stripe image corresponding to the codes in the third coding set into a target object to obtain a fourth target stripe image corresponding to the codes in the third coding set, and the point cloud image is obtained according to the fourth target stripe image, wherein all the codes in the third coding set are consistent with all the codes in the second coding set in content;

If the second target projection mode is a fourth projection mode, the fourth projection mode corresponds to the first coding set, the first coding set is obtained, and based on the light projection period of the optical machine, the optical machine is controlled to put the stripe image corresponding to the codes in the first coding set into a target object, so that a fifth target stripe image corresponding to the codes in the first coding set is obtained; and obtaining the point cloud image according to the fifth target stripe image.

12. A point cloud image acquisition apparatus for acquiring a point cloud image by a camera, the camera including a light engine, a light projection period of the light engine including a dark time and a light projection time, the point cloud image acquisition apparatus comprising:

13. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer execution instructions and codes, and the codes are used for controlling an optical machine of a camera by the processor to put stripe images corresponding to the codes into a target object;

the processor executes computer-executable instructions stored in the memory to implement the point cloud image acquisition method of any one of claims 1 to 11.

14. The electronic device of claim 13, wherein the memory comprises a first memory and/or a second memory;

the first memory is used for storing codes of a first code set, and the first code set is a code set corresponding to a first projection mode or a fourth projection mode of the camera;

the second memory is configured to store codes of a second code set, where the second code set is a code set corresponding to a second projection mode or a third projection mode of the camera.

15. The electronic device of claim 14, wherein the memory further comprises a third memory;

the third memory is configured to store codes of a third code set, where the third code set is a code set corresponding to a third projection mode of the camera.

16. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer program instructions, which when executed by a processor, implement the point cloud image acquisition method according to any one of claims 1 to 11.