WO2021022775A1 - Depth image generation method, apparatus and device, and computer-readable storage medium - Google Patents

Depth image generation method, apparatus and device, and computer-readable storage medium Download PDF

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Publication number
WO2021022775A1
WO2021022775A1 PCT/CN2019/129176 CN2019129176W WO2021022775A1 WO 2021022775 A1 WO2021022775 A1 WO 2021022775A1 CN 2019129176 W CN2019129176 W CN 2019129176W WO 2021022775 A1 WO2021022775 A1 WO 2021022775A1
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Prior art keywords
projection
structured light
light pattern
depth image
display image
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PCT/CN2019/129176
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French (fr)
Chinese (zh)
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吕思豪
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歌尔股份有限公司
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/315—Modulator illumination systems
    • H04N9/3161—Modulator illumination systems using laser light sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor

Definitions

  • the present invention relates to the field of depth image display technology, in particular to a depth image generation method, device, equipment and computer readable storage medium.
  • the current projection system obtains the depth image through the depth module. To improve the resolution of the depth image, higher requirements are placed on the hardware of the depth module, and a receiver for receiving reflected light needs to be added, which leads to the entire projection.
  • the system structure is complex.
  • the main purpose of the present invention is to provide a depth image generation method, device, equipment, and computer readable storage medium, which are designed to solve the existing technical solutions to improve the depth image resolution, which requires the addition of reflected light receiving devices, resulting in an overly complex projection system structure The problem.
  • the present invention proposes a depth image generation method, the method includes the following steps:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the projection generates a structured light pattern
  • the structured light pattern is superimposed on the surface of the display image
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the step of controlling the structured light pattern to produce a projection change and obtaining the projection change information of the structured light pattern includes:
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the step of obtaining the depth image of the display image according to the projection change information includes:
  • the depth image of the display image is obtained.
  • the present invention also provides a depth image generating device, the depth image generating device comprising:
  • a projection module for projecting to generate a display image, and for projecting to generate a structured light pattern, the structured light pattern superimposed on the surface of the display image;
  • the control module is used to control the projection change of the structured light pattern and obtain the projection change information of the structured light pattern
  • the calculation module is used to obtain the depth image of the display image according to the projection change information.
  • the display image is generated based on projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the control module is also used to control the infrared laser emitting unit to project and generate an infrared structured light pattern, so The infrared structured light pattern is superimposed on the surface of the display image.
  • the present invention also provides a depth image generation device, the depth image generation device comprising: a memory, a processor, and a depth image generation device stored in the memory and running on the processor Program; the depth image generation program is executed by the processor to implement the steps of the depth image generation method described above.
  • the present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and when the depth image generation program is executed by a processor, the implementation is as described above. The steps of the depth image generation method.
  • the structured light pattern is projected on the surface of the displayed image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • FIG. 1 is a schematic flowchart of the first embodiment of the depth image generation method of the present invention
  • FIG. 2 is a schematic flowchart of a second embodiment of the depth image generation method of the present invention.
  • FIG. 3 is a schematic flowchart of a third embodiment of the depth image generation method of the present invention.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of the depth image generation method of the present invention.
  • FIG. 5 is a schematic flowchart of a fifth embodiment of the depth image generation method of the present invention.
  • FIG. 6 is a schematic flowchart of a sixth embodiment of the depth image generation method of the present invention.
  • FIG. 7 is a schematic diagram of the superposition of the display image and the structured light pattern in the depth image generation method of the present invention in FIG. 1;
  • FIG. 8 is a schematic diagram of the structured light pattern density increase in the depth image generating method of the present invention in FIG. 5;
  • FIG. 9 is a schematic diagram of the structure of the depth image generating device of the present invention.
  • Label name Label name 100 Projection module 123 Third pattern 110 Display image 200 Control module 120 Structured light pattern 300 Calculation module 121 First pattern 410 Infrared laser emitting unit
  • a first embodiment of the present invention is a depth image generation method.
  • the method includes the following steps:
  • Step S10 projecting to generate a display image
  • the display image is generated by projection by a projection module
  • the projection module is generally an LBS (Laser Bean Scanning) projection module, which has high efficiency and power consumption Low advantage
  • the projection module in the present invention is not limited to the LBS projection module.
  • Step S20 projecting to generate a structured light pattern, the structured light pattern is superimposed on the surface of the displayed image, the structured light pattern is generated by a light emitting unit, wherein the light emitting unit generally refers to an infrared laser emitting unit, and the structured light It is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal.
  • the structured light pattern can be any of points, lines, and surfaces, or points, lines, and surfaces.
  • the structured light pattern has multiple vertical stripes.
  • the structured light pattern can also be designed according to its own pattern shape to increase the coverage of the display image details, so as to further improve the display details of the depth image.
  • Step S30 Control the structured light pattern to produce projection changes to obtain projection change information of the structured light pattern.
  • the projection changes include the change of the structured light pattern itself, for example, the structured light pattern of multiple vertical stripes is transformed into multiple horizontal stripes.
  • the structured light pattern that is, the pattern of the structured light pattern itself can be arbitrarily deformed. Through this arbitrary shape deformation, the coverage of the display image details can be increased, and the depth can be obtained by projecting the information before and after the change of the structured light pattern. The image shows more details.
  • Step S40 Obtain the depth image of the displayed image according to the projection change information, where the projection change information includes the offset of the structured light pattern covering position, and also the change of the structured light pattern itself. Through the change of the structured light pattern, the analysis and calculation can be Further improve the resolution of the depth image.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the display image is generated based on the projection of the LBS projection module.
  • the LBS projection module includes an infrared laser emitting unit, wherein the infrared laser
  • the emitting unit is an infrared laser
  • the structured light pattern is generated by projection, and the step S20 of superimposing the structured light pattern on the surface of the display image includes:
  • Step S21 controlling the projection of the infrared laser emitting unit to generate an infrared structured light pattern, the infrared structured light pattern is superimposed on the surface of the displayed image, and the infrared light cannot be recognized by the naked eye, so as to avoid affecting the display effect of the displayed image when the depth image is obtained.
  • the LBS projection module also includes an infrared light camera unit.
  • the infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern.
  • the step S30 includes:
  • Step S31 controlling the structured light pattern projection focus to change, and controlling the infrared light camera unit to obtain information about the change of the projection focus of the structured light pattern.
  • the focus of the structured light pattern changes, the light pattern presented on the display image surface changes.
  • the camera shoots the structured light pattern with the change in focus.
  • the change information of the structured light pattern can be obtained.
  • the focus change of the structured light pattern is not limited to one change. Including multiple consecutive times, multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • the LBS projection module also includes an infrared light camera unit.
  • the infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern.
  • the step S30 includes:
  • Step S32 control the structured light pattern to produce displacement on the surface of the displayed image, control the infrared light camera unit to obtain the displacement information of the structured light pattern, for example, the structured light pattern moves in the horizontal direction, and record the horizontal movement distance of the structured light pattern to control the infrared
  • the camera captures the images before and after the displacement of the structured light pattern to obtain the displacement information of the structured light pattern, and obtains the projection change information of the structured light pattern according to the displacement information.
  • the movement of the structured light pattern is not limited to one movement, and may include multiple times
  • the structured light pattern can also be moved in the vertical direction or tilted every time the infrared camera is moved.
  • the infrared camera will shoot every time the structured light pattern moves by a certain distance. Both the movement direction and the number of movement of the structured light pattern need to be set according to requirements, in order to further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • a fifth embodiment of the present invention is proposed to control the projection change of the structured light pattern, and obtain the projection change information of the structured light pattern after step S30 include:
  • Step S50 increase the projection density of the structured light pattern, obtain the projection density change information of the structured light pattern, and increase the projection density to obtain more detailed laser reflection information, that is, the infrared camera can obtain a wider range of coverage and display image surface Information.
  • increasing the projection density of the structured light pattern can be gradually increased.
  • the projection density of the structured light pattern is increased to include the first pattern, the second pattern and the third pattern in turn, and the projection density of the structured light pattern is increased in three times. In this way, more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
  • the step S40 of obtaining the depth image of the display image according to the projection change information includes:
  • Step S41 Obtain the depth image of the displayed image according to the projection change information and the projection density change information. That is, by obtaining the projection change information and the projection density change information, the projection change information and the projection density change information are combined. The combined analysis of the change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
  • the present invention also provides a depth image generation device.
  • the depth image generation device includes: a projection module 100, a control module 200 and a calculation module 300.
  • the projection module 100 is used for projecting to generate a display image 110, and for projecting to generate a structured light pattern 120, which is superimposed on the surface of the display image 110, wherein the projection module is generally an LBS projection module
  • the LBS projection module has the advantages of high efficiency and low power consumption.
  • the projection module in the present invention is not limited to the LBS projection module.
  • the structured light pattern 120 is generated by a light emitting unit, wherein the light emitting unit is generally Refers to the infrared laser emitting unit 410.
  • the structured light is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal.
  • the structured light pattern 120 can be a point, line, Any of the planes can also be a combination of dots, lines, and planes.
  • the structured light pattern 120 is a plurality of vertical stripes.
  • the structured light pattern 120 can also design its own pattern shape as needed to increase the details of the displayed image 110 In order to further improve the display details of the depth image.
  • the control module 200 is used to control the structured light pattern 120 to produce a projection change, and obtain projection change information of the structured light pattern 120.
  • the projection change includes the change of the structured light pattern 120 itself, such as the structure of multiple vertical stripes.
  • the light pattern 120 is transformed into a structured light pattern 120 with multiple horizontal stripes, that is to say, the pattern of the structured light pattern 120 itself can be arbitrarily deformed, and this arbitrary shape deformation can increase the coverage of the details of the displayed image 110 , To obtain the information before and after the projection change of the structured light pattern 120, and obtain more display details of the depth image.
  • the calculation module 300 is used to obtain the depth image of the display image 110 according to the projection change information, where the projection change information includes the offset of the coverage position of the structured light pattern 120, and also includes the change of the structured light pattern 120 itself. Analysis and calculation of changes in the structured light pattern 120 can further improve the resolution of the depth image.
  • the structured light pattern 120 is projected on the surface of the display image 110, the structured light pattern 120 is controlled to produce projection changes, and the display details of the display image 110 are obtained according to the projection change information, which can further improve the resolution of the depth image.
  • the technical solution of the present invention does not need to add a complicated structured light laser emitting device, so as to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the display image 110 is generated based on the projection of an LBS projection module.
  • the LBS projection module includes an infrared laser emitting unit 410.
  • the control module 200 is also used to control the infrared laser emitting unit 410 to project and generate infrared structured light.
  • the pattern 120, the infrared structured light pattern 120 is superimposed on the surface of the display image 110, and the infrared light cannot be recognized by naked eyes, so as to avoid affecting the display effect of the display image 110 when the depth image is obtained.
  • control module 200 is also used to control the projection focus of the structured light pattern 120 to change, and control the infrared light camera unit 420 to obtain information about the change in the projection focus of the structured light pattern 120.
  • the focus of the structured light pattern 120 changes, the display The light on the surface of the display image 110 changes, and the structured light pattern 120 with the changed focus is photographed by an infrared camera.
  • the change information of the structured light pattern 120 can be obtained.
  • the focus change of the structured light pattern 120 is not limited to one change, but may include multiple times. Multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
  • control module 200 is also used to control the structured light pattern 120 to produce displacement on the surface of the display image 110, and control the infrared light camera unit 420 to obtain the displacement information of the structured light pattern 120, for example, the structured light pattern 120 moves in a horizontal direction , And record the horizontal movement distance of the structured light pattern 120, control the infrared camera to capture images before and after the displacement of the structured light pattern 120, obtain the displacement information of the structured light pattern 120, and obtain the projection change of the structured light pattern 120 according to the displacement information Information, in addition, the movement of the structured light pattern 120 is not limited to one movement, and may include multiple times. Each time the infrared camera is moved, one shot is taken. In addition, the structured light pattern 120 can also be moved vertically or tilted.
  • the infrared camera will shoot.
  • the moving direction and the number of movements of the structured light pattern 120 need to be set according to requirements, so as to obtain more change information. It is more conducive to obtain higher precision image resolution.
  • the control module 200 is also used to increase the projection density of the structured light pattern 120, obtain the projection density change information of the structured light pattern 120, and increase the projection density to obtain more detailed laser reflection information, that is, In other words, the infrared camera can obtain a wider range of information covering the surface of the displayed image 110.
  • increasing the projection density of the structured light pattern 120 can gradually increase.
  • the projection density of the structured light pattern 120 can be increased to the first pattern 121 and the second pattern in turn.
  • the third pattern 122 and the third pattern 123 are divided into three times to increase the projection density of the structured light pattern 120, so that more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
  • the calculation module 300 is also used to obtain the depth image of the display image 110 according to the projection change information and the projection density change information, that is, by obtaining the projection change information and the projection density change information, the projection change information.
  • the combined analysis of the two kinds of change information and the projection density change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
  • the present invention also provides a depth image generation device, the depth image generation device includes: a memory, a processor, and a depth image generation program stored on the memory and running on the processor; the depth image generation The device calls the depth image generation program stored in the memory and performs the following operations:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the processor calls a depth image generation program stored in a memory and executes the following operations:
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the processor calls the depth image generation program stored in the memory and performs the following operations:
  • the depth image of the display image is obtained.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and the depth image generation program can be executed by one or more processors for:
  • Projection produces a structured light pattern, which is superimposed on the surface of the display image
  • the display image is generated based on the projection of an LBS projection module
  • the LBS projection module includes an infrared laser emitting unit
  • the depth image generation program is executed by the processor to achieve the following operations:
  • the infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  • the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
  • the projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  • the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
  • the structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  • the projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  • the depth image of the display image is obtained.
  • the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disk, optical disk), including several instructions to make a terminal device (can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present invention.

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Abstract

Disclosed are a depth image generation method, apparatus and device, and a computer-readable storage medium. The depth image generation method comprises the following steps: performing projection to generate a display image; performing projection to generate a structured light pattern, wherein the structured light pattern is superposed on the surface of the display image; controlling the structured light pattern to generate projection change to obtain projection change information of the structured light pattern; and obtaining a depth image of the display image according to the projection change information. According to the present invention, a complex structured light laser-emitting device does not need to be added, so that a complex projection system structure is avoided, and the resolution of a depth image can be effectively improved.

Description

深度图像生成方法、装置、设备及计算机可读存储介质Depth image generation method, device, equipment and computer readable storage medium 技术领域Technical field
本发明涉及深度图像显示技术领域，尤其涉及一种深度图像生成方法、装置、设备及计算机可读存储介质。The present invention relates to the field of depth image display technology, in particular to a depth image generation method, device, equipment and computer readable storage medium.
背景技术Background technique
目前的投影系统是通过深度模组获得的深度图像，若要提升深度图像的分辨率，对深度模组的硬件提出了比较高的要求，需要增加接收反射光的接收器，如此导致了整个投影系统结构复杂。The current projection system obtains the depth image through the depth module. To improve the resolution of the depth image, higher requirements are placed on the hardware of the depth module, and a receiver for receiving reflected light needs to be added, which leads to the entire projection. The system structure is complex.
发明内容Summary of the invention
本发明的主要目的是提供一种深度图像生成方法、装置、设备及计算机可读存储介质，旨在解决现有技术方案提升深度图像分辨率，需要增加反射光接收器件，导致投影系统结构过于复杂的问题。The main purpose of the present invention is to provide a depth image generation method, device, equipment, and computer readable storage medium, which are designed to solve the existing technical solutions to improve the depth image resolution, which requires the addition of reflected light receiving devices, resulting in an overly complex projection system structure The problem.
为实现上述目的，本发明提出一种深度图像生成方法，所述方法包括以下步骤：To achieve the above objective, the present invention proposes a depth image generation method, the method includes the following steps:
投影产生显示图像；Projection produces a display image;
投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；Projection produces a structured light pattern, which is superimposed on the surface of the display image;
控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；Controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern;
依据所述投影变化信息获得所述显示图像的深度图像。Obtaining the depth image of the display image according to the projection change information.
可选地，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，所述投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面的步骤包括：Optionally, the display image is generated based on the projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, the projection generates a structured light pattern, and the structured light pattern is superimposed on the surface of the display image The steps include:
控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。The infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
可选地，所述LBS投影模组还包括红外光摄像单元，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤包括：Optionally, the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
控制所述结构光图案投影焦点产生变化，控制所述红外光摄像单元获得所述结构光图案的投影焦点产生变化的信息。The projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
可选地，所述LBS投影模组还包括红外光摄像单元，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤包括：Optionally, the LBS projection module further includes an infrared camera unit, and the step of controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern includes:
控制所述结构光图案于所述显示图像的表面产生位移，控制所述红外光摄像单元获得所述结构光图案的位移信息。The structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
可选地，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤之后包括：Optionally, after the step of controlling the structured light pattern to produce a projection change and obtaining the projection change information of the structured light pattern includes:
增加所述结构光图案的投影密度，获得所述结构光图案的投影密度变化信息。The projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
可选地，所述依据所述投影变化信息获得所述显示图像的深度图像的步骤包括：Optionally, the step of obtaining the depth image of the display image according to the projection change information includes:
依据所述投影变化信息和所述投影密度变化信息，获得所述显示图像的深度图像。According to the projection change information and the projection density change information, the depth image of the display image is obtained.
此外，为了实现上述目的，本发明还提供一种深度图像生成装置，所述深度图像生成装置包括：In addition, in order to achieve the above objective, the present invention also provides a depth image generating device, the depth image generating device comprising:
投影模块，用于投影产生显示图像，以及，用于投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；A projection module for projecting to generate a display image, and for projecting to generate a structured light pattern, the structured light pattern superimposed on the surface of the display image;
控制模块，用于控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；The control module is used to control the projection change of the structured light pattern and obtain the projection change information of the structured light pattern;
计算模块，用于依据所述投影变化信息获得所述显示图像的深度图像。The calculation module is used to obtain the depth image of the display image according to the projection change information.
可选地，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，所述控制模块还用于控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。Optionally, the display image is generated based on projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, and the control module is also used to control the infrared laser emitting unit to project and generate an infrared structured light pattern, so The infrared structured light pattern is superimposed on the surface of the display image.
此外，为了实现上述目的，本发明还提供一种深度图像生成设备，所述深度图像生成设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的深度图像产生程序；所述深度图像产生程序被所述处理器执行时实现如上文所述的深度图像生成方法的步骤。In addition, in order to achieve the above object, the present invention also provides a depth image generation device, the depth image generation device comprising: a memory, a processor, and a depth image generation device stored in the memory and running on the processor Program; the depth image generation program is executed by the processor to implement the steps of the depth image generation method described above.
此外，为了实现上述目的，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有深度图像产生程序，所述深度图像产生程序被处理器执行时实现如上文所述的深度图像生成方法的步骤。In addition, in order to achieve the above-mentioned object, the present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and when the depth image generation program is executed by a processor, the implementation is as described above. The steps of the depth image generation method.
本发明技术方案中，在显示图像的表面投影形成结构光图案，控制结构光图案产生投影变化，依据投影变化信息获得显示图像的显示细节，由此可知能够进一步提高深度图像的分辨率，也就是说本发明技术方案，不需要增加复杂的结构光激光发射器件，以避免投影系统结构复杂，且能够有效提高深度图像的分辨率。In the technical scheme of the present invention, the structured light pattern is projected on the surface of the displayed image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
附图说明Description of the drawings
图1是本发明的深度图像生成方法第一实施例的流程示意图；FIG. 1 is a schematic flowchart of the first embodiment of the depth image generation method of the present invention;
图2是本发明的深度图像生成方法第二实施例的流程示意图；2 is a schematic flowchart of a second embodiment of the depth image generation method of the present invention;
图3是本发明的深度图像生成方法第三实施例的流程示意图；3 is a schematic flowchart of a third embodiment of the depth image generation method of the present invention;
图4是本发明的深度图像生成方法第四实施例的流程示意图；4 is a schematic flowchart of a fourth embodiment of the depth image generation method of the present invention;
图5是本发明的深度图像生成方法第五实施例的流程示意图；5 is a schematic flowchart of a fifth embodiment of the depth image generation method of the present invention;
图6是本发明的深度图像生成方法第六实施例的流程示意图；6 is a schematic flowchart of a sixth embodiment of the depth image generation method of the present invention;
图7是图1中本发明的深度图像生成方法中显示图像和结构光图案叠加的示意图；FIG. 7 is a schematic diagram of the superposition of the display image and the structured light pattern in the depth image generation method of the present invention in FIG. 1;
图8是图5中本发明的深度图像生成方法中结构光图案密度增加的示意图；FIG. 8 is a schematic diagram of the structured light pattern density increase in the depth image generating method of the present invention in FIG. 5;
图9是本发明的深度图像生成装置的结构示意图。FIG. 9 is a schematic diagram of the structure of the depth image generating device of the present invention.
附图标号说明：Description with icon number:
标号Label 名称 name 标号Label 名称name
100100 投影模块 Projection module 123123 第三图案 Third pattern
110110 显示图像 Display image 200200 控制模块 Control module
120120 结构光图案 Structured light pattern 300300 计算模块 Calculation module
121121 第一图案 First pattern 410410 红外激光发射单元Infrared laser emitting unit
122122 第二图案 Second pattern 420420 红外光摄像单元Infrared camera unit
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the objectives, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式detailed description
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
参阅图1所示，本发明的第一实施例，一种深度图像生成方法，方法包括以下步骤：Referring to FIG. 1, a first embodiment of the present invention is a depth image generation method. The method includes the following steps:
步骤S10，投影产生显示图像，所述显示图像通过投影模组投影产生，其中所述投影模组一般为LBS(Laser Bean Scanning，激光扫描)投影模组，LBS投影模组具有效率高、功耗低的优点，本发明中的投影模组不限于LBS投影模组。Step S10, projecting to generate a display image, the display image is generated by projection by a projection module, where the projection module is generally an LBS (Laser Bean Scanning) projection module, which has high efficiency and power consumption Low advantage, the projection module in the present invention is not limited to the LBS projection module.
步骤S20，投影产生结构光图案，结构光图案叠加于显示图像的表面，所述结构光图案是通过光发射单元产生的，其中所述光发射单元一般是指红外激光发射单元，所述结构光是一种透射特定的光信息到物体表面，通过采集光信号的变化来计算物体的位置和深度的系统，结构光图案可以是点、线、面其中任意一种，也可是点、线、面的组合，例如结构光图案为多条竖状条纹，结构光图案还能够根据需要设计的自身的图案形状，以增加对显示图像细节的覆盖，以便进一步提高深度图像的显示细节。Step S20, projecting to generate a structured light pattern, the structured light pattern is superimposed on the surface of the displayed image, the structured light pattern is generated by a light emitting unit, wherein the light emitting unit generally refers to an infrared laser emitting unit, and the structured light It is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal. The structured light pattern can be any of points, lines, and surfaces, or points, lines, and surfaces. For example, the structured light pattern has multiple vertical stripes. The structured light pattern can also be designed according to its own pattern shape to increase the coverage of the display image details, so as to further improve the display details of the depth image.
步骤S30，控制结构光图案产生投影变化，获得结构光图案的投影变化信息，所述投影变化中包括结构光图案自身的变化，例如多条竖状条纹的结构光图案转化为多条横条纹的结构光图案，也就是说，结构光图案自身的图案是可以产生任意变形的，通过这种任意形状的变形，能够增加对显示图像细节的覆盖，通过结构光图案投影变化的前后信息，获得深度图像更多的显示细节。Step S30: Control the structured light pattern to produce projection changes to obtain projection change information of the structured light pattern. The projection changes include the change of the structured light pattern itself, for example, the structured light pattern of multiple vertical stripes is transformed into multiple horizontal stripes. The structured light pattern, that is, the pattern of the structured light pattern itself can be arbitrarily deformed. Through this arbitrary shape deformation, the coverage of the display image details can be increased, and the depth can be obtained by projecting the information before and after the change of the structured light pattern. The image shows more details.
步骤S40，依据投影变化信息获得显示图像的深度图像，其中所述投影变化信息包括结构光图案覆盖位置的偏移，也包括结构光图案自身的变化，通过上述结构光图案的变化，分析计算能够进一步提高深度图像的分辨率。Step S40: Obtain the depth image of the displayed image according to the projection change information, where the projection change information includes the offset of the structured light pattern covering position, and also the change of the structured light pattern itself. Through the change of the structured light pattern, the analysis and calculation can be Further improve the resolution of the depth image.
本实施技术方案中，在显示图像的表面投影形成结构光图案，控制结构光图案产生投影变化，依据投影变化信息获得显示图像的显示细节，由此可知能够进一步提高深度图像的分辨率，也就是说本发明技术方案，不需要增加复杂的结构光激光发射器件，以避免投影系统结构复杂，且能够有效提高深度图像的分辨率。In the technical solution of this embodiment, the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
参阅图2所示，在本发明的第一实施例的基础上，提出本发明的第二实施例，显示图像基于LBS投影模组投影产生，LBS投影模组包括红外激光发射单元，其中红外激光发射单元为红外激光器，投影产生结构光图案，结构光图案叠加于显示图像的表面的步骤S20包括：Referring to FIG. 2, on the basis of the first embodiment of the present invention, a second embodiment of the present invention is proposed. The display image is generated based on the projection of the LBS projection module. The LBS projection module includes an infrared laser emitting unit, wherein the infrared laser The emitting unit is an infrared laser, and the structured light pattern is generated by projection, and the step S20 of superimposing the structured light pattern on the surface of the display image includes:
步骤S21，控制红外激光发射单元投影产生红外结构光图案，红外结构光图案叠加于显示图像的表面，红外光肉眼无法识别，避免在获得深度图像时影响显示图像的显示效果。Step S21, controlling the projection of the infrared laser emitting unit to generate an infrared structured light pattern, the infrared structured light pattern is superimposed on the surface of the displayed image, and the infrared light cannot be recognized by the naked eye, so as to avoid affecting the display effect of the displayed image when the depth image is obtained.
参阅图3所示，在本发明的第二实施例的基础上，提出本发明的第三实施例，LBS投影模组还包括红外光摄像单元，所述红外光摄像单元为红外摄像机，通过红外摄像机拍摄红外结构光图案，控制结构光图案产生投影变化，获得结构光图案的投影变化信息的步骤S30包括：Referring to FIG. 3, on the basis of the second embodiment of the present invention, a third embodiment of the present invention is proposed. The LBS projection module also includes an infrared light camera unit. The infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern. The step S30 includes:
步骤S31，控制结构光图案投影焦点产生变化，控制红外光摄像单元获得结构光图案的投影焦点产生变化的信息，结构光图案的焦点变化时，呈现在显示图像表面的光线图案产生变化，通过红外摄像机对焦点产生变化的结构光图案进行拍摄，通过对比分析焦点变化前的图像和焦点变化后的图像能够得出结构光图案的变化信息，另外，结构光图案的焦点变化不限于变化一次，可包括连续多次，多次焦点变化能够更进一步得到更多的变化信息，也就更利于获得精度更高的图像分辨率。Step S31, controlling the structured light pattern projection focus to change, and controlling the infrared light camera unit to obtain information about the change of the projection focus of the structured light pattern. When the focus of the structured light pattern changes, the light pattern presented on the display image surface changes. The camera shoots the structured light pattern with the change in focus. By comparing and analyzing the image before the focus change and the image after the focus change, the change information of the structured light pattern can be obtained. In addition, the focus change of the structured light pattern is not limited to one change. Including multiple consecutive times, multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
参阅图4所示，在本发明的第二实施例的基础上，提出本发明的第四实施例，LBS投影模组还包括红外光摄像单元，所述红外光摄像单元为红外摄像机，通过红外摄像机拍摄红外结构光图案，控制结构光图案产生投影变化，获得结构光图案的投影变化信息的步骤S30包括：Referring to FIG. 4, on the basis of the second embodiment of the present invention, a fourth embodiment of the present invention is proposed. The LBS projection module also includes an infrared light camera unit. The infrared light camera unit is an infrared camera, The camera shoots the infrared structured light pattern, controls the structured light pattern to produce projection changes, and obtains the projection change information of the structured light pattern. The step S30 includes:
步骤S32，控制结构光图案于显示图像的表面产生位移，控制红外光摄像单元获得结构光图案的位移信息，例如结构光图案在水平方向移动，并记录下结构光图案的水平移动距离，控制红外摄像机拍摄结构光图案位移前和位 移后的图像，获得结构光图案的位移信息，依据该位移信息获得结构光图案的投影变化信息，另外，结构光图案的移动不限于移动一次，可包括多次，每次移动红外摄像机均进行一次拍摄，除此之外，结构光图案还可在竖直方向上移动，或者倾斜移动，同样结构光图案每次按照一定距离移动后，红外摄像机均进行拍摄，结构光图案的移动方向和移动的次数均需要根据需求进行设定，以便进一步得到更多的变化信息，也就更利于获得精度更高的图像分辨率。Step S32, control the structured light pattern to produce displacement on the surface of the displayed image, control the infrared light camera unit to obtain the displacement information of the structured light pattern, for example, the structured light pattern moves in the horizontal direction, and record the horizontal movement distance of the structured light pattern to control the infrared The camera captures the images before and after the displacement of the structured light pattern to obtain the displacement information of the structured light pattern, and obtains the projection change information of the structured light pattern according to the displacement information. In addition, the movement of the structured light pattern is not limited to one movement, and may include multiple times In addition, the structured light pattern can also be moved in the vertical direction or tilted every time the infrared camera is moved. Similarly, the infrared camera will shoot every time the structured light pattern moves by a certain distance. Both the movement direction and the number of movement of the structured light pattern need to be set according to requirements, in order to further obtain more change information, which is more conducive to obtaining higher precision image resolution.
参阅图5所示，在本发明的第三或者第四实施例的基础上，提出本发明的第五实施例，控制结构光图案产生投影变化，获得结构光图案的投影变化信息的步骤S30之后包括：Referring to FIG. 5, on the basis of the third or fourth embodiment of the present invention, a fifth embodiment of the present invention is proposed to control the projection change of the structured light pattern, and obtain the projection change information of the structured light pattern after step S30 include:
步骤S50，增加结构光图案的投影密度，获得结构光图案的投影密度变化信息，增加投影密度，能够获得更加详细的激光反射信息，也就是说，红外摄像机能够获得覆盖显示图像表面范围更广的信息，此外，增加结构光图案的投影密度是可以逐渐增加的，例如结构光图案的投影密度依次增加至括第一图案、第二图案和第三图案，分成三次增加结构光图案的投影密度，如此能够获得较多的投影密度变化信息，利于获得更精细准确的图像分辨率。Step S50, increase the projection density of the structured light pattern, obtain the projection density change information of the structured light pattern, and increase the projection density to obtain more detailed laser reflection information, that is, the infrared camera can obtain a wider range of coverage and display image surface Information. In addition, increasing the projection density of the structured light pattern can be gradually increased. For example, the projection density of the structured light pattern is increased to include the first pattern, the second pattern and the third pattern in turn, and the projection density of the structured light pattern is increased in three times. In this way, more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
参阅图6所示，在本发明的第五实施例的基础上，提出本发明的第六实施例，依据投影变化信息获得显示图像的深度图像的步骤S40包括：Referring to FIG. 6, on the basis of the fifth embodiment of the present invention, a sixth embodiment of the present invention is proposed. The step S40 of obtaining the depth image of the display image according to the projection change information includes:
步骤S41，依据投影变化信息和投影密度变化信息，获得显示图像的深度图像，也就是说，通过获得投影变化信息和投影密度变化信息两种变化信息，将投影变化信息和投影密度变化信息两种变化信息进行组合分析，能够获得更加全面的变化信息，如此能够更进一步提高，获得的深度图像的分辨率。Step S41: Obtain the depth image of the displayed image according to the projection change information and the projection density change information. That is, by obtaining the projection change information and the projection density change information, the projection change information and the projection density change information are combined. The combined analysis of the change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
参阅图7和图9所示，本发明还提供一种深度图像生成装置，所述深度图像生成装置包括：投影模块100、控制模块200和计算模块300。Referring to FIG. 7 and FIG. 9, the present invention also provides a depth image generation device. The depth image generation device includes: a projection module 100, a control module 200 and a calculation module 300.
投影模块100用于投影产生显示图像110，以及，用于投影产生结构光图案120，所述结构光图案120叠加于所述显示图像110的表面，其中所述投影模组一般为LBS投影模组，LBS投影模组具有效率高、功耗低的优点，本发明中的投影模组不限于LBS投影模组，所述结构光图案120是通过光发射单元产生的，其中所述光发射单元一般是指红外激光发射单元410，所述结构光是一种 透射特定的光信息到物体表面，通过采集光信号的变化来计算物体的位置和深度的系统，结构光图案120可以是点、线、面其中任意一种，也可是点、线、面的组合，例如结构光图案120为多条竖状条纹，结构光图案120还能够根据需要设计的自身的图案形状，以增加对显示图像110细节的覆盖，以便进一步提高深度图像的显示细节。The projection module 100 is used for projecting to generate a display image 110, and for projecting to generate a structured light pattern 120, which is superimposed on the surface of the display image 110, wherein the projection module is generally an LBS projection module The LBS projection module has the advantages of high efficiency and low power consumption. The projection module in the present invention is not limited to the LBS projection module. The structured light pattern 120 is generated by a light emitting unit, wherein the light emitting unit is generally Refers to the infrared laser emitting unit 410. The structured light is a system that transmits specific light information to the surface of an object, and calculates the position and depth of the object by collecting changes in the light signal. The structured light pattern 120 can be a point, line, Any of the planes can also be a combination of dots, lines, and planes. For example, the structured light pattern 120 is a plurality of vertical stripes. The structured light pattern 120 can also design its own pattern shape as needed to increase the details of the displayed image 110 In order to further improve the display details of the depth image.
控制模块200用于控制所述结构光图案120产生投影变化，获得所述结构光图案120的投影变化信息，所述投影变化中包括结构光图案120自身的变化，例如多条竖状条纹的结构光图案120转化为多条横条纹的结构光图案120，也就是说，结构光图案120自身的图案是可以产生任意变形的，通过这种任意形状的变形，能够增加对显示图像110细节的覆盖，获得结构光图案120投影变化的前后信息，获得深度图像更多的显示细节。The control module 200 is used to control the structured light pattern 120 to produce a projection change, and obtain projection change information of the structured light pattern 120. The projection change includes the change of the structured light pattern 120 itself, such as the structure of multiple vertical stripes. The light pattern 120 is transformed into a structured light pattern 120 with multiple horizontal stripes, that is to say, the pattern of the structured light pattern 120 itself can be arbitrarily deformed, and this arbitrary shape deformation can increase the coverage of the details of the displayed image 110 , To obtain the information before and after the projection change of the structured light pattern 120, and obtain more display details of the depth image.
计算模块300用于依据所述投影变化信息获得所述显示图像110的深度图像，其中所述投影变化信息包括结构光图案120覆盖位置的偏移，也包括结构光图案120自身的变化，通过上述结构光图案120的变化，分析计算能够进一步提高深度图像的分辨率。The calculation module 300 is used to obtain the depth image of the display image 110 according to the projection change information, where the projection change information includes the offset of the coverage position of the structured light pattern 120, and also includes the change of the structured light pattern 120 itself. Analysis and calculation of changes in the structured light pattern 120 can further improve the resolution of the depth image.
本实施技术方案中，在显示图像110的表面投影形成结构光图案120，控制结构光图案120产生投影变化，依据投影变化信息获得显示图像110的显示细节，由此可知能够进一步提高深度图像的分辨率，也就是说本发明技术方案，不需要增加复杂的结构光激光发射器件，以避免投影系统结构复杂，且能够有效提高深度图像的分辨率。In the technical solution of this embodiment, the structured light pattern 120 is projected on the surface of the display image 110, the structured light pattern 120 is controlled to produce projection changes, and the display details of the display image 110 are obtained according to the projection change information, which can further improve the resolution of the depth image. In other words, the technical solution of the present invention does not need to add a complicated structured light laser emitting device, so as to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
进一步地，所述显示图像110基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元410，所述控制模块200还用于控制所述红外激光发射单元410投影产生红外结构光图案120，所述红外结构光图案120叠加于所述显示图像110的表面，红外光肉眼无法识别，避免在获得深度图像时影响显示图像110的显示效果。Further, the display image 110 is generated based on the projection of an LBS projection module. The LBS projection module includes an infrared laser emitting unit 410. The control module 200 is also used to control the infrared laser emitting unit 410 to project and generate infrared structured light. The pattern 120, the infrared structured light pattern 120 is superimposed on the surface of the display image 110, and the infrared light cannot be recognized by naked eyes, so as to avoid affecting the display effect of the display image 110 when the depth image is obtained.
进一步地，所述控制模块200还用于控制结构光图案120投影焦点产生变化，控制红外光摄像单元420获得结构光图案120的投影焦点产生变化的信息，结构光图案120的焦点变化时，呈现在显示图像110表面的光线产生变化，通过红外摄像机对焦点产生变化的结构光图案120进行拍摄，通过对比分析焦点变化前的图像和焦点变化后的图像能够得出结构光图案120的变化信息，另 外，结构光图案120的焦点变化不限于变化一次，可包括多次，多次焦点变化能够更进一步得到更多的变化信息，也就更利于获得精度更高的图像分辨率。Further, the control module 200 is also used to control the projection focus of the structured light pattern 120 to change, and control the infrared light camera unit 420 to obtain information about the change in the projection focus of the structured light pattern 120. When the focus of the structured light pattern 120 changes, the display The light on the surface of the display image 110 changes, and the structured light pattern 120 with the changed focus is photographed by an infrared camera. By comparing and analyzing the image before the focus change and the image after the focus change, the change information of the structured light pattern 120 can be obtained. In addition, the focus change of the structured light pattern 120 is not limited to one change, but may include multiple times. Multiple focus changes can further obtain more change information, which is more conducive to obtaining higher precision image resolution.
进一步地，所述控制模块200还用于控制结构光图案120于显示图像110的表面产生位移，控制红外光摄像单元420获得结构光图案120的位移信息，例如结构光图案120在水平方向上移动，并记录下结构光图案120的水平移动距离，控制红外摄像机拍摄结构光图案120位移前和位移后的图像，获得结构光图案120的位移信息，依据该位移信息获得结构光图案120的投影变化信息，另外，结构光图案120的移动不限于移动一次，可包括多次，每次移动红外摄像机均进行一次拍摄，除此之外，结构光图案120还可竖直方向上移动，或者倾斜移动，同样结构光图案120每次按照一定距离移动后，红外摄像机均进行拍摄，结构光图案120的移动方向和移动的次数均需要根据需求进行设定，以便进一步得到更多的变化信息，也就更利于获得精度更高的图像分辨率。Further, the control module 200 is also used to control the structured light pattern 120 to produce displacement on the surface of the display image 110, and control the infrared light camera unit 420 to obtain the displacement information of the structured light pattern 120, for example, the structured light pattern 120 moves in a horizontal direction , And record the horizontal movement distance of the structured light pattern 120, control the infrared camera to capture images before and after the displacement of the structured light pattern 120, obtain the displacement information of the structured light pattern 120, and obtain the projection change of the structured light pattern 120 according to the displacement information Information, in addition, the movement of the structured light pattern 120 is not limited to one movement, and may include multiple times. Each time the infrared camera is moved, one shot is taken. In addition, the structured light pattern 120 can also be moved vertically or tilted. Similarly, after the structured light pattern 120 moves by a certain distance each time, the infrared camera will shoot. The moving direction and the number of movements of the structured light pattern 120 need to be set according to requirements, so as to obtain more change information. It is more conducive to obtain higher precision image resolution.
进一步地，参阅图8所示，控制模块200还用于增加结构光图案120的投影密度，获得结构光图案120的投影密度变化信息，增加投影密度，能够获得更加详细的激光反射信息，也就是说，红外摄像机能够获得覆盖显示图像110表面范围更广的信息，此外，增加结构光图案120的投影密度可以逐渐增加，例如结构光图案120120的投影密度依次增加至第一图案121、第二图案122和第三图案123，分成三次增加结构光图案120的投影密度，如此能够获得较多的投影密度变化信息，利于获得更精细准确的图像分辨率。Further, referring to FIG. 8, the control module 200 is also used to increase the projection density of the structured light pattern 120, obtain the projection density change information of the structured light pattern 120, and increase the projection density to obtain more detailed laser reflection information, that is, In other words, the infrared camera can obtain a wider range of information covering the surface of the displayed image 110. In addition, increasing the projection density of the structured light pattern 120 can gradually increase. For example, the projection density of the structured light pattern 120 can be increased to the first pattern 121 and the second pattern in turn. The third pattern 122 and the third pattern 123 are divided into three times to increase the projection density of the structured light pattern 120, so that more projection density change information can be obtained, which is conducive to obtaining finer and more accurate image resolution.
进一步地，计算模块300还用于依据投影变化信息和投影密度变化信息，获得显示图像110的深度图像，也就是说，通过获得投影变化信息和投影密度变化信息两种变化信息，将投影变化信息和投影密度变化信息两种变化信息进行组合分析，能够获得更加全面的变化信息，如此能够更进一步提高，获得的深度图像的分辨率。Further, the calculation module 300 is also used to obtain the depth image of the display image 110 according to the projection change information and the projection density change information, that is, by obtaining the projection change information and the projection density change information, the projection change information The combined analysis of the two kinds of change information and the projection density change information can obtain more comprehensive change information, which can further improve the resolution of the obtained depth image.
本发明还提供一种深度图像生成设备，所述深度图像生成设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的深度图像产生程序；所述深度图像生成设备通过调用存储器中存储的深度图像产生程序并执行以下操作：The present invention also provides a depth image generation device, the depth image generation device includes: a memory, a processor, and a depth image generation program stored on the memory and running on the processor; the depth image generation The device calls the depth image generation program stored in the memory and performs the following operations:
投影产生显示图像；Projection produces a display image;
投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；Projection produces a structured light pattern, which is superimposed on the surface of the display image;
控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；Controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern;
依据所述投影变化信息获得所述显示图像的深度图像。Obtaining the depth image of the display image according to the projection change information.
进一步地，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，处理器调用存储器中存储的深度图像产生程序并执行以下操作：Further, the display image is generated based on the projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, and the processor calls a depth image generation program stored in a memory and executes the following operations:
控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。The infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
进一步地，所述LBS投影模组还包括红外光摄像单元，处理器调用存储器中存储的深度图像产生程序并执行以下操作：Further, the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
控制所述结构光图案投影焦点产生变化，控制所述红外光摄像单元获得所述结构光图案的投影焦点产生变化的信息。The projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
进一步地，所述LBS投影模组还包括红外光摄像单元，处理器调用存储器中存储的深度图像产生程序并执行以下操作：Further, the LBS projection module further includes an infrared light camera unit, and the processor calls the depth image generation program stored in the memory and performs the following operations:
控制所述结构光图案于所述显示图像的表面产生位移，控制所述红外光摄像单元获得所述结构光图案的位移信息。The structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
进一步地，处理器调用存储器中存储的深度图像产生程序并执行以下操作：Further, the processor calls the depth image generation program stored in the memory and performs the following operations:
增加所述结构光图案的投影密度，获得所述结构光图案的投影密度变化信息。The projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
进一步地，处理器调用存储器中存储的深度图像产生程序并执行以下操作：Further, the processor calls the depth image generation program stored in the memory and performs the following operations:
依据所述投影变化信息和所述投影密度变化信息，获得所述显示图像的深度图像。According to the projection change information and the projection density change information, the depth image of the display image is obtained.
本实施技术方案中，在显示图像的表面投影形成结构光图案，控制结构光图案产生投影变化，依据投影变化信息获得显示图像的显示细节，由此可知能够进一步提高深度图像的分辨率，也就是说本发明技术方案，不需要增加复杂的结构光激光发射器件，以避免投影系统结构复杂，且能够有效提高深度图像的分辨率。In the technical solution of this embodiment, the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
本发明还提供一种计算机可读存储介质，所述计算机可读存储介质上存 储有深度图像产生程序，所述深度图像产生程序可被一个或者一个以上处理器执行以用于：The present invention also provides a computer-readable storage medium having a depth image generation program stored on the computer-readable storage medium, and the depth image generation program can be executed by one or more processors for:
投影产生显示图像；Projection produces a display image;
投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；Projection produces a structured light pattern, which is superimposed on the surface of the display image;
控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；Controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern;
依据所述投影变化信息获得所述显示图像的深度图像。Obtaining the depth image of the display image according to the projection change information.
进一步地，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，所述深度图像产生程序被处理器执行时还实现如下操作：Further, the display image is generated based on the projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, and the depth image generation program is executed by the processor to achieve the following operations:
控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。The infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
进一步地，所述LBS投影模组还包括红外光摄像单元，所述深度图像产生程序被处理器执行时还实现如下操作：Further, the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
控制所述结构光图案投影焦点产生变化，控制所述红外光摄像单元获得所述结构光图案的投影焦点产生变化的信息。The projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
进一步地，所述LBS投影模组还包括红外光摄像单元，所述深度图像产生程序被处理器执行时还实现如下操作：Further, the LBS projection module further includes an infrared camera unit, and the following operations are also implemented when the depth image generation program is executed by the processor:
控制所述结构光图案于所述显示图像的表面产生位移，控制所述红外光摄像单元获得所述结构光图案的位移信息。The structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
进一步地，所述深度图像产生程序被处理器执行时还实现如下操作：Further, the following operations are also implemented when the depth image generation program is executed by the processor:
增加所述结构光图案的投影密度，获得所述结构光图案的投影密度变化信息。The projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
进一步地，所述深度图像产生程序被处理器执行时还实现如下操作：Further, the following operations are also implemented when the depth image generation program is executed by the processor:
依据所述投影变化信息和所述投影密度变化信息，获得所述显示图像的深度图像。According to the projection change information and the projection density change information, the depth image of the display image is obtained.
本实施技术方案中，在显示图像的表面投影形成结构光图案，控制结构光图案产生投影变化，依据投影变化信息获得显示图像的显示细节，由此可知能够进一步提高深度图像的分辨率，也就是说本发明技术方案，不需要增加复杂的结构光激光发射器件，以避免投影系统结构复杂，且能够有效提高 深度图像的分辨率。In the technical solution of this embodiment, the structured light pattern is projected on the surface of the display image, the structured light pattern is controlled to produce projection changes, and the display details of the displayed image are obtained according to the projection change information. It can be seen that the resolution of the depth image can be further improved, that is According to the technical solution of the present invention, there is no need to add a complicated structured light laser emitting device to avoid the complicated structure of the projection system, and can effectively improve the resolution of the depth image.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or system. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article or system that includes the element.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The sequence numbers of the foregoing embodiments of the present invention are only for description, and do not represent the superiority of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disk, optical disk), including several instructions to make a terminal device (can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present invention.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only the preferred embodiments of the present invention, and do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of the present invention.

Claims (10)

  1. 一种深度图像生成方法，其特征在于，所述方法包括以下步骤：A depth image generation method, characterized in that the method includes the following steps:
    投影产生显示图像；Projection produces a display image;
    投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；Projection produces a structured light pattern, which is superimposed on the surface of the display image;
    控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；Controlling the structured light pattern to produce a projection change, and obtaining projection change information of the structured light pattern;
    依据所述投影变化信息获得所述显示图像的深度图像。Obtaining the depth image of the display image according to the projection change information.
  2. 如权利要求1所述的深度图像生成方法，其特征在于，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，所述投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面的步骤包括：The depth image generation method of claim 1, wherein the display image is generated based on projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, the projection generates a structured light pattern, and the The step of superimposing the structured light pattern on the surface of the display image includes:
    控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。The infrared laser emitting unit is controlled to project to generate an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  3. 如权利要求2所述的深度图像生成方法，其特征在于，所述LBS投影模组还包括红外光摄像单元，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤包括：The depth image generation method of claim 2, wherein the LBS projection module further comprises an infrared camera unit, and the structured light pattern is controlled to produce a projection change to obtain the projection change of the structured light pattern The information steps include:
    控制所述结构光图案投影焦点产生变化，控制所述红外光摄像单元获得所述结构光图案的投影焦点产生变化的信息。The projection focus of the structured light pattern is controlled to change, and the infrared light imaging unit is controlled to obtain information about the projection focus of the structured light pattern.
  4. 如权利要求2所述的深度图像生成方法，其特征在于，所述LBS投影模组还包括红外光摄像单元，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤包括：The depth image generation method of claim 2, wherein the LBS projection module further comprises an infrared camera unit, and the structured light pattern is controlled to produce a projection change to obtain the projection change of the structured light pattern The information steps include:
    控制所述结构光图案于所述显示图像的表面产生位移，控制所述红外光摄像单元获得所述结构光图案的位移信息。The structured light pattern is controlled to produce displacement on the surface of the display image, and the infrared light camera unit is controlled to obtain displacement information of the structured light pattern.
  5. 如权利要求3或4所述的深度图像生成方法，其特征在于，所述控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息的步骤 之后包括：The depth image generation method according to claim 3 or 4, wherein the step of controlling the structured light pattern to produce a projection change and obtaining the projection change information of the structured light pattern afterwards comprises:
    增加所述结构光图案的投影密度，获得所述结构光图案的投影密度变化信息。The projection density of the structured light pattern is increased to obtain the projection density change information of the structured light pattern.
  6. 如权利要求5所述的深度图像生成方法，其特征在于，所述依据所述投影变化信息获得所述显示图像的深度图像的步骤包括：5. The depth image generating method according to claim 5, wherein the step of obtaining the depth image of the display image according to the projection change information comprises:
    依据所述投影变化信息和所述投影密度变化信息，获得所述显示图像的深度图像。According to the projection change information and the projection density change information, the depth image of the display image is obtained.
  7. 一种深度图像生成装置，其特征在于，所述深度图像生成装置包括：A depth image generating device, characterized in that the depth image generating device includes:
    投影模块，用于投影产生显示图像，以及，用于投影产生结构光图案，所述结构光图案叠加于所述显示图像的表面；A projection module for projecting to generate a display image, and for projecting to generate a structured light pattern, the structured light pattern superimposed on the surface of the display image;
    控制模块，用于控制所述结构光图案产生投影变化，获得所述结构光图案的投影变化信息；The control module is used to control the projection change of the structured light pattern and obtain the projection change information of the structured light pattern;
    计算模块，用于依据所述投影变化信息获得所述显示图像的深度图像。The calculation module is used to obtain the depth image of the display image according to the projection change information.
  8. 如权利要求7所述的深度图像生成装置，其特征在于，所述显示图像基于LBS投影模组投影产生，所述LBS投影模组包括红外激光发射单元，所述控制模块还用于控制所述红外激光发射单元投影产生红外结构光图案，所述红外结构光图案叠加于所述显示图像的表面。The depth image generating device according to claim 7, wherein the display image is generated based on the projection of an LBS projection module, the LBS projection module includes an infrared laser emitting unit, and the control module is also used to control the The infrared laser emitting unit projects and generates an infrared structured light pattern, and the infrared structured light pattern is superimposed on the surface of the display image.
  9. 一种深度图像生成设备，其特征在于，所述深度图像生成设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的深度图像产生程序；所述深度图像产生程序被所述处理器执行时实现如权利要求1-6中任一项所述的深度图像生成方法的步骤。A depth image generation device, characterized in that the depth image generation device includes: a memory, a processor, and a depth image generation program stored in the memory and capable of running on the processor; the depth image generation When the program is executed by the processor, the steps of the depth image generating method according to any one of claims 1-6 are realized.
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有深度图像产生程序，所述深度图像产生程序被处理器执行时实现如权利要求1-6中任一项所述的深度图像生成方法的步骤。A computer-readable storage medium, characterized in that a depth image generation program is stored on the computer-readable storage medium, and when the depth image generation program is executed by a processor, it realizes as described in any one of claims 1-6. The steps of the depth image generation method described.
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