WO2021258343A1 - 一种打光以及光斑图像数据获取方法、装置 - Google Patents

一种打光以及光斑图像数据获取方法、装置 Download PDF

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Publication number
WO2021258343A1
WO2021258343A1 PCT/CN2020/098161 CN2020098161W WO2021258343A1 WO 2021258343 A1 WO2021258343 A1 WO 2021258343A1 CN 2020098161 W CN2020098161 W CN 2020098161W WO 2021258343 A1 WO2021258343 A1 WO 2021258343A1
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Prior art keywords
light source
light
sub
source group
lighting
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PCT/CN2020/098161
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English (en)
French (fr)
Inventor
李晨静
陈华
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深圳市汇顶科技股份有限公司
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Priority to PCT/CN2020/098161 priority Critical patent/WO2021258343A1/zh
Publication of WO2021258343A1 publication Critical patent/WO2021258343A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • This application relates to the field of sensor technology, and in particular to a method and device for acquiring light and spot image data.
  • the corresponding spot image data is obtained by illuminating the target object (for example, emitting near-infrared light).
  • the light spot image data is processed to obtain the flight time information of the light, and the flight time information of the light is used to measure the distance or depth of objects in the scene.
  • a specific dynamic range of reflected light is usually limited, and only the light spot image data within the dynamic range of reflected light can be processed smoothly and obtain the expected processing result. Therefore, in order to ensure that the light spot image data is within the dynamic range of reflected light, different lighting intensity will be used for different application scenarios. For example, in an application scheme that uses indirect Time-of-Flight (iToF) for distance measurement, different driving powers are used to drive the light source for lighting for targets in different distance ranges, and for closer targets The object uses a lower light source driving power, and a higher light source driving power is used for a distant target object.
  • iToF indirect Time-of-Flight
  • the present application provides a method and device for obtaining light-emitting and spot image data.
  • an embodiment of the present application provides a method for obtaining lighting and spot image data, including:
  • the light source group is driven to light the target object, wherein the light source group includes a first sub-light source group and a second sub-light source group, the first sub-light source group includes a plurality of light sources, and the second sub-light source group includes another Multiple light sources, and in the same lighting, the light intensities of the multiple light sources of the first sub-light source group are different from the light intensities of the other multiple light sources of the second sub-light source group, the The lighting positions of the multiple light sources of the first sub-light source group and the other multiple light sources of the second sub-light source group for lighting the target object do not overlap each other, and the light source group is the target object
  • the illuminated light is reflected by the target object and irradiated on the same light sensor to generate multiple spot images, and the spot images correspond to the light source one to one;
  • the first sub-light source group and the second sub-light source group are respectively driven based on different driving powers.
  • the driving light source group illuminates the target object, wherein:
  • the lighting positions of the multiple light sources of the first sub-light source group are evenly distributed;
  • the lighting positions of the other plurality of light sources of the second sub-light source group are evenly distributed.
  • the lighting range of the first sub-light source group for lighting the target object and the lighting range of the second sub-light source group for lighting the target object The range is the same lighting range.
  • the light source group is a light source lattice, wherein:
  • the first sub-light source group is an odd-numbered line of point light sources of the light source lattice
  • the second sub-light source group is an even-numbered line of point light sources of the light source lattice
  • the first sub-light source group is an odd-numbered point light source of the light source lattice
  • the second sub-light source group is an even-numbered point light source of the light source lattice
  • the light source group further includes one or more other sub-light source groups other than the first sub-light source group and the second sub-light source group, and they are in the same time
  • the light intensities of the light sources of different sub-light source groups in the light source group are different from each other, and the lighting positions of all the light sources in the light source group for lighting the target object do not overlap with each other.
  • the number of sub light source groups in the light source group is a preset number of sub light source groups, and the light intensity of each sub light source group in the light source group is uniformly distributed within the preset light intensity effective interval;
  • the number of sub-light source groups in the light source group is the number of division nodes obtained by dividing the preset light intensity effective interval based on a preset step length, and the light intensity of each sub-light source group in the light source group is in the Evenly distributed within the preset effective range of light intensity;
  • the number of sub-light source groups in the light source group corresponds to the number of gear positions in the preset lighting gear setting
  • the light intensity of the sub-light source group lighting in the light source group is the preset lighting gear setting Middle corresponds to the light intensity of the lighting gear.
  • the number of sub-light source groups in the light source group and the light intensity of each of the sub-light source groups are matched with the application scenario requirements for processing the spot image data .
  • the application scenario for processing the light spot image data is indirect light time-of-flight ranging, where:
  • the number of sub-light source groups in the light source group corresponds to the number of bins of the effective ranging range binning strategy of the indirect light time-of-flight ranging, and each sub-light source group in the light source group corresponds to an effective ranging range;
  • the light intensity of the sub-light source group in the light source group is the light intensity corresponding to the effective ranging range corresponding to the sub-light source group.
  • the application scenario for processing the spot image data is indirect light time-of-flight ranging
  • the filtering the light spot image data of the multiple light spot images according to the preset reflected light dynamic range to obtain the light spot image data of the light spot image that meets the preset reflected light dynamic range includes: from the light spot image data Filter out the light spot image data corresponding to the light spot image that meets the preset gray value interval.
  • the method further includes:
  • the phase of the light signal is calculated after the light source is illuminated and reflected by the target object until the light spot image data is collected. Offset, depth calculation is performed according to the phase offset of the optical signal.
  • an embodiment of the present application proposes a lighting control and light spot image data acquisition device, including:
  • a light source control module which is used to drive a light source group to light a target object, wherein the light source group includes a first sub light source group and a second sub light source group, the first sub light source group includes a plurality of light sources, and the first light source group includes a plurality of light sources.
  • the two sub-light source groups include other multiple light sources, and in the same lighting, the light intensities of the multiple light sources of the first sub-light source group are different from the other multiple light sources of the second sub-light source group
  • the light intensity of the light source, the lighting positions of the multiple light sources of the first sub-light source group and the other multiple light sources of the second sub-light source group for lighting the target object do not overlap with each other, the The light source group is that the light shining by the target object is reflected by the target object and then irradiated on the same light sensor to generate a plurality of spot images, and the spot images correspond to the light source in a one-to-one correspondence;
  • Reflected light acquisition module which is used to acquire multiple light spots generated on the light sensor after the lighting rays of the first sub-light source group and the second sub-light source group are reflected by the target object in the same lighting Image data of the light spot of the image;
  • the data screening module is used for screening the spot image data of the multiple spot images according to the preset reflected light dynamic range to obtain the spot image data of the spot image satisfying the preset reflected light dynamic range.
  • an embodiment of the present application proposes a lighting and spot image data collection device, including:
  • a light source group which includes a first sub-light source group and a second sub-light source group
  • the first sub-light source group includes a plurality of light sources
  • the second sub-light source group includes another plurality of light sources
  • the first sub-light source group The light sources of the plurality of light sources and the other light sources of the second sub-light source group do not overlap with each other for lighting positions of the target object.
  • the target object is reflected and irradiated on the same light sensor to generate multiple spot images, and the spot images correspond to the light source one-to-one;
  • the light source group control module which is used to drive the light source group to light the target object
  • Reflected light collection module which is used to obtain a plurality of light beams generated on the light sensor after the lighting rays of the first sub-light source group and the second sub-light source group in the same lighting are reflected by the target object Spot image data of the spot image;
  • Data processing module which is used for:
  • an embodiment of the present application provides an electronic device that includes a memory for storing computer program instructions and a processor for executing program instructions, wherein when the computer program instructions are executed by the processor At this time, the electronic device is triggered to execute the method described in the first aspect above.
  • an embodiment of the present application provides a computer-readable storage medium in which a computer program is stored, and when it runs on an electronic device, the electronic device executes the first The method described in the aspect.
  • the light spot image data corresponding to two light intensities can be obtained in one lighting-spot image data collection. There is no need to perform two lighting-spot image data collection, which greatly improves the data collection efficiency and reduces the data collection power consumption.
  • Figure 1 shows a flowchart of an embodiment of iToF ranging
  • FIG. 2 is a flowchart of an embodiment of a method for obtaining lighting and spot image data according to the present application
  • Fig. 3 is a schematic diagram showing the arrangement of light sources in a light source group according to an embodiment of the present application
  • FIG. 4 is a schematic diagram showing the arrangement of light spots generated by lighting of a light source group according to an embodiment of the present application
  • FIG. 5 is a schematic diagram showing the arrangement of a light spot image generated on a light sensor after lighting rays are reflected by a target object according to an embodiment of the present application;
  • Fig. 6 shows a structural diagram of an embodiment of a light-emitting and light-spot image data acquisition device according to the present application
  • Fig. 7 is a structural diagram of an embodiment of a light-emitting and light-spot image data acquisition device according to the present application.
  • this application provides a method for lighting and spot image data acquisition.
  • the inability to obtain the spot image data within the dynamic range of reflected light is usually caused by too high or insufficient lighting intensity. Therefore, a feasible solution is to perform multiple lighting-spot image data collection operations, and use different light intensities in each lighting operation until the light spot image data within the dynamic range of reflected light is obtained.
  • the effective ranging range of the iToF device is divided into two stages, short-range and long-range, and the corresponding light source drive power W11 and light source drive are set for the short-range and long-range respectively.
  • Power W12 (W11 ⁇ W12).
  • the light source is driven based on W11 and W12 and the corresponding light spot image data is obtained. From the two light spot image data obtained, the light spot image data that satisfies the dynamic range of reflected light is selected for distance measurement calculation, or, When the two light spot image data does not meet the reflected light dynamic range, the feedback ranging fails.
  • Fig. 1 shows a flowchart of an embodiment of iToF ranging. As shown in Figure 1, the ranging process includes the following steps:
  • Step 110 driving the light source to light based on the driving power W11;
  • Step 111 Collect image data of the first spot generated by lighting in step 110;
  • Step 120 driving the light source to light based on the driving power W12;
  • Step 121 Collect the second light spot image data generated by the lighting in step 120;
  • Step 130 Filter the light spot image data that meets the dynamic range of reflected light from the first light spot image data and the second light spot image data;
  • Step 140 Perform distance measurement calculation according to the light spot image data selected in step 130.
  • the optical spot image data generated based on the optimal light intensity can still be obtained, so as to ensure that the acquisition is within the dynamic range of reflected light The spot image data.
  • the acquisition process of light spot image data is prolonged, the acquisition efficiency of light spot image data is greatly reduced, and the processing power consumption is greatly increased.
  • a solution of multiple lighting sources is adopted to reduce the number of executions of lighting-spot image data acquisition operations.
  • multiple light sources are used in a single lighting, and each light source lighting will generate a corresponding spot image.
  • the spot image data of the spot image obtained by one shot includes the spot image data of the spot image that satisfies the dynamic range of reflected light.
  • Fig. 2 is a flow chart of an embodiment of a method for obtaining lighting and spot image data according to the present application. As shown in FIG. 2, in an embodiment of the present application, the following steps are performed to obtain the light spot image data of the light spot image within the dynamic range of reflected light:
  • Step 210 Drive the light source group to light the target object, where the light source group includes a first sub-light source group and a second sub-light source group, the first sub-light source group includes multiple light sources, and the second sub-light source group includes other multiple light sources And in the same lighting, the light intensity of the multiple light sources of the first sub-light source group is different from the light intensity of the other multiple light sources of the second sub-light source group, the multiple light sources of the first sub-light source group and the second sub-light source group The other multiple light sources of the light source group do not overlap the lighting positions of the target object.
  • the light from the light source group for the target object is reflected by the target object and irradiated on the same light sensor to generate multiple spot images, the spot image and the light source
  • the light sources in the group have a one-to-one correspondence;
  • Step 220 Obtain light spot image data of multiple light spot images generated on the light sensor after the lighting rays of the first sub-light source group and the second sub-light source group in the same lighting are reflected by the target object;
  • Step 230 Filter the spot image data of the multiple spot images acquired in step 220 according to the preset dynamic range of reflected light to obtain the spot image data of the spot image that meets the preset dynamic range of reflected light.
  • the two sub-light source groups of the light source group are used to illuminate the target object, and the light intensity of the lighting of the two sub-light source groups is different.
  • one lighting-spot image data collection can obtain light spot image data corresponding to two light intensities, without the need to perform two lighting-spot image data collections, which greatly improves data collection efficiency and reduces data collection power consumption.
  • the light source group further includes one or more other sub light source groups other than the first sub light source group and the second sub light source group, and in the same lighting, different sub light source groups in the light source group
  • the light intensities of the light sources of the light source group are different from each other, and the lighting positions of all the light sources in the light source group for lighting the target object do not coincide with each other.
  • the spot image data of the spot image obtained by one shot includes the spot image data of the spot image that satisfies the dynamic range of reflected light.
  • the light intensity of the light source is adjusted by adjusting the driving power of the light source.
  • the multiple sub-light source groups are respectively driven based on different driving powers.
  • the first sub-light source group and the second sub-light source group are respectively driven based on different driving powers.
  • the light intensity of the light source during lighting may also be adjusted by other methods than adjusting the driving power of the light source. For example, add lenses with different transmittances to the light source; or change the number of light sources activated in the sub-light source group.
  • any feasible structure can be used to construct the light source group.
  • the light source group is a light source dot matrix, and the light source group includes a plurality of point light sources arranged in a matrix.
  • Fig. 3 is a schematic diagram showing the arrangement of light sources of a light source group according to an embodiment of the present application. As shown in Figure 3, L1 to L8 are the column numbers of the light source dot matrix, and H1 to H16 are the row numbers of the light source dot matrix.
  • the light source group contains 128 point light sources arranged in 8x16.
  • the sub-light source groups can be independently controlled. That is, when the light source group is divided into multiple sub-light source groups, it must be divided based on the control mode of the light source. Specifically, in one embodiment, in the light source lattice shown in FIG. 3, when the light source group adopts row driving, that is, each row of light sources is provided with a set of driving circuits, and the driving power of the light sources of a row can be individually adjusted. Therefore, when the sub-light source group is divided, the division is performed in units of rows, and the light sources in the same row cannot be divided into different sub-light source groups. For example, each row of light sources is divided into a sub-light source group, or every two rows of light sources are divided into a sub-light source group.
  • each column of light sources is equipped with a set of driving circuits, and the driving power of a column of light sources can be individually adjusted. Therefore, when the sub-light source group is divided, the division is performed in units of columns, and the light sources in the same column cannot be divided into different sub-light source groups. For example, each column of light sources is divided into a sub-light source group, or every two columns of light sources are divided into a sub-light source group.
  • each light source has a set of driving circuits, and the driving power of any light source can be adjusted independently. Therefore, when the sub-light source group is divided, a single light source is used as a unit for division. For example, each light source is divided into a sub-light source group, or every two light sources are divided into a sub-light source group, for example, two adjacent light sources are divided into a sub-light source group.
  • the lighting positions of the multiple light sources of the sub-light source group are uniformly distributed.
  • the lighting positions of the multiple light sources of the first sub-light source group are evenly distributed; and, In the lighting range where the second sub-light source group lights the target object, the lighting positions of the other multiple light sources of the second sub-light source group are evenly distributed.
  • the lighting range of different sub-light source groups lighting the target object is the same lighting range. In this way, when the sub-light source group is lighting the target object, the lighting positions of different light intensities within the lighting range are evenly distributed. Specifically, in an embodiment shown in FIG. 2, the lighting range of the first sub-light source group for lighting the target object and the lighting range of the second sub-light source group for lighting the target object are the same lighting range.
  • the light source group is a light source dot matrix
  • the first sub-light source group is a point light source of odd rows of the light source dot matrix
  • the second sub-light source group is an even row of light source dots.
  • Point light source Alternatively, the first sub-light source group is an odd-numbered row of point light sources of the light source lattice, and the second sub-light source group is an even-numbered row of point light sources of the light source lattice.
  • the light source group when two sub-light source groups are divided, the light source group includes a first sub-light source group and a second sub-light source group.
  • the first sub-light source group is the odd-numbered column (L1, L3, L5, L7) of the light source lattice
  • the second sub-light source group is the even-numbered column of the light source lattice (L2, L4). , L6, L8 column) point light source.
  • the first sub-light source group is the point light source of the odd-numbered rows (H1, H3, H5, H7, H9, H11, H13, H15) of the light source lattice
  • the second sub-light source group is the light source point Point light sources in even rows of the array (H2, H4, H6, H8, H10, H12, H14, H16 rows).
  • a total of 64 dots in the odd-numbered rows of 8 rows are driven by the first driving power
  • a total of 64 dots in the even-numbered rows of 8 rows are driven by the second driving power.
  • light source (L1, H1), light source (L1, H2), light source (L2, H1), light source (L2, H2) belong to four sub-light source groups
  • light source (L3, H1), (L5, H1), ( L7, H1) and light source (L1, H1) belong to the same sub-light source group
  • light source (L3, H2), (L5, H2), (L7, H2) and light source (L1, H2) belong to the same sub-light source group
  • light source ( L4, H1), (L6, H1), (L8, H1) and light source (L2, H1) belong to the same sub-light source group
  • light source (L4, H2), (L6, H2), (L8, H2) and light source ( L2, H2) belong to the same sub-light source group.
  • FIG. 4 is a schematic diagram showing the arrangement of lighting spots of a light source group according to an embodiment of the present application.
  • the light emitted by the light source lattice 401 shown in Fig. 3 is collimated by a collimator lens into a small-angle light beam, and the light light is arranged in light according to the light source arrangement of the light source lattice 401 Light array, the lighting light array is copied into multiple copies (for example, 3*3) by the diffraction grating, and finally projected on the target object, forming a spot array as shown in Figure 4 on the surface of the target object, with a total of 1152 spots in the spot array .
  • the photographing device 402 forms a spot array as shown in FIG. 4 on the surface of the target object, and acquires spot image data of 1152 spot images.
  • the light spot image captured by the photographing device 402 is the light spot image formed by the light emitted from the light source dot matrix 401 after being irradiated on the target object and reflected to the photographing device 402.
  • FIG. 5 is a schematic diagram showing the arrangement of the light spot image generated on the light sensor after the lighting light is reflected by the target object according to an embodiment of the present application.
  • the lighting rays forming the spot array shown in FIG. 4 are reflected by the target object, and the reflected rays generate 1152 spot images (spot image array) corresponding to the spot array shown in FIG.
  • each grid shown in Figure 5 represents a pixel of the light sensor, and each circle (701, 702, 703, 711, 712, 721, 722, and 723) represents a pixel generated by the reflected light of the target object on the light sensor.
  • Spot image, each spot image covers multiple pixels.
  • the first sub-light source group is the point light source of the odd-numbered rows of the light source lattice 401
  • the second sub-light source group is the point light source of the even-numbered rows of the light source lattice 401.
  • the first sub-light source group and the second sub-light source group are respectively driven based on the first driving power and the second driving power.
  • 576 corresponding to the first driving power and 576 corresponding to the second driving power.
  • the spot images 701, 702, 703, 721, 722, and 723 are spot images generated after the light from the first sub-light source group is reflected by the target object.
  • the spot images 711 and 712 are the spot images generated after the light from the second sub-light source group is reflected by the target object.
  • the number of sub-light source groups in the light source group and the light intensity of each sub-light source group are determined according to the state parameters of the light source.
  • the light source has an upper limit of light intensity and a lower limit of light intensity that can be reached during normal operation.
  • the light source when the driving power of the light source is lower than the first driving power, the light source cannot be driven, and the light intensity when the light source is driven by the first driving power is set to the lower limit of light intensity; when the driving power of the light source is high At the second driving power, the light source is in an overload state, and the light intensity when the light source is driven by the second driving power is set as the upper light intensity limit.
  • the upper limit of light intensity and the lower limit of light intensity constitute the effective range of light intensity of the light source.
  • the number of sub-light source groups in the light source group and the lighting of each sub-light source group are determined according to the effective range of the light intensity of the light source. Light intensity.
  • the number of sub light source groups in the light source group is the preset number of sub light source groups, and the light intensity of each sub light source group in the light source group is uniformly distributed within the preset light intensity effective range .
  • the lower limit light intensity and the upper limit light intensity of the design can be achieved.
  • the preset number of sub light source groups is 3, the light source group is divided into three sub light source groups when the sub light source group is divided.
  • the light source driving power of the three sub light source groups are W21 1 and (W21 1 +W22 1 )/2, W22 1 .
  • the number of sub-light source groups in the light source group is the number of divided nodes obtained by dividing the preset light intensity effective interval based on the preset step length, and each sub-light source group in the light source group is lit by The light intensity is evenly distributed within the preset effective range of light intensity.
  • the light source in the light source group can achieve the lower limit light intensity and the upper limit light intensity in its design based on the lowest driving power W21 2 and the highest driving power W22 2.
  • the preset step size is w
  • the light source group is divided into n sub light source groups when the sub light source group is divided, where:
  • the light source driving power of the n sub-light source groups are W21 2 , W21 2 +w, W21 2 +2w,...W21 2 +(n-2)*w, W22 2 respectively .
  • the light source is preset with a lighting gear setting, and the light source can only be adjusted according to the preset lighting gear setting. Therefore, in an embodiment of the present application, the number of sub-light source groups in the light source group and the light intensity of each sub-light source group are determined according to the lighting gear setting of the light source.
  • the number of sub-light source groups in the light source group corresponds to the number of gear positions in the preset lighting gear setting
  • the light intensity of the sub-light source groups in the light source group is preset The light intensity corresponding to the lighting gear in the lighting gear setting.
  • the light source in the light source group is set to three-level lighting mode (first-level lighting, second-level lighting, and third-level lighting), and the third-level lighting modes correspond to the preset light source driving power (W21 3 , W22 3 , W23 3 ) to achieve the corresponding three-level lighting intensity.
  • the light source group is divided into three sub-light source groups.
  • the light source driving powers of the three sub-light source groups are W21 3 , W22 3 , and W23 3 respectively .
  • the division method of the sub-light source groups in the light source group and the light intensity of each sub-light source group are determined according to the application scene requirements for processing the spot image data. Specifically, in an embodiment of the present application, the number of sub-light source groups in the light source group and the light intensity of each sub-light source group are matched with the application scenario requirements for processing light spot image data.
  • the light source group is divided into three sub-light source groups.
  • the lighting intensity of the three sub-light source groups are respectively It is the light intensity of the three lighting modes.
  • the spot image data generated by setting the light intensity exceeding the preset upper limit Q1 and lower than the preset lower limit Q2 is invalid data, that is, if the sub-light source group When the light intensity exceeds the preset upper limit Q1 or is lower than the preset lower limit Q2, the generated light spot image data cannot be used. Therefore, when the light intensity of the sub light source group is set, the light intensity of the sub light source group cannot be allowed to exceed The preset upper limit Q1 or lower than the preset lower limit Q2.
  • the application scenario for processing light spot image data is iToF ranging, where:
  • the number of sub-light source groups in the light source group corresponds to the number of bins in the effective ranging range binning strategy of indirect light time-of-flight ranging, and each sub-light source group in the light source group corresponds to an effective ranging range;
  • the light intensity of the sub-light source group in the light source group is the light intensity corresponding to the effective ranging range corresponding to the sub-light source group.
  • the effective range of ranging is 1 meter to 7 meters.
  • the effective ranging range classification strategy is:
  • the driving power W31 to drive the light source for lighting to generate spot image data for distance measurement calculation
  • the driving power W32 to drive the light source for lighting to generate light spot image data for distance measurement calculation
  • the driving power W31 to drive the light source for lighting to generate light spot image data for distance measurement calculation.
  • the light source group is divided into three sub-light source groups, and the driving power of the three sub-light source groups is W31, W32, and W33 during the same lighting. In this way, it is possible to obtain light spot image data that meets the calculation requirements of distance measurement in the same lighting, or to confirm that the target object is not within the range of distance measurement.
  • the effective range of ranging is 3 meters to 7 meters.
  • the effective ranging range classification strategy is:
  • the driving power W41 to drive the light source for lighting to generate light spot image data for distance measurement calculation
  • the driving power W42 to drive the light source for lighting to generate light spot image data for distance measurement calculation.
  • the light source group is divided into two sub-light source groups, and the driving powers of the two sub-light source groups are W41 and W42 respectively during the same lighting. In this way, it is possible to obtain light spot image data that meets the calculation requirements of distance measurement in the same lighting, or to confirm that the target object is not within the range of distance measurement.
  • the light spot image data is filtered according to the gray value of the light spot.
  • the application scenario for processing light spot image data is indirect light time-of-flight ranging; obtaining light spots generated by the first sub-light source group and the second sub-light source group for lighting the target object in the same lighting
  • the image data process includes: obtaining the light spot data of the light spot generated by the first sub-light source group and the second sub-light source group lighting the target object in the same lighting; filtering the light spot image data according to the preset dynamic range of reflected light
  • the process of obtaining light spot image data that meets the preset dynamic range of reflected light includes: filtering light spot data corresponding to light spots that meet the preset gray value interval from the light spot data.
  • the method further includes:
  • the selected light spot data corresponding to the light spot that meets the preset gray value interval calculate the phase shift of the optical signal during the process from the light source being illuminated by the target object until the light spot data is collected, according to the phase deviation of the light signal Move to perform depth calculations.
  • the light spot image data is filtered according to a preset dynamic range of reflected light to obtain light spot image data that meets the dynamic range of reflected light. It should be noted here that the finally obtained spot image data that satisfies the dynamic range of the reflected light is obtained by screening all the spot image data, rather than being obtained by screening according to the driving power of the light source.
  • the light spot image data that satisfies the dynamic range of reflected light may be light spot image data generated by lighting a certain sub-light source group, or light spot image data generated by lighting multiple sub-light source groups. Specifically, in an embodiment of the present application, it is assumed that the light source group is divided into a first sub-light source group and a second sub-light source group.
  • the first sub-light source group emits light to generate the first spot image data
  • the second sub-light source group emits light. Generate the second spot image data.
  • the first sub-light source group and the second sub-light source group are simultaneously lighting to generate the first light spot image data and the second light spot image data. Then there are the following possible situations:
  • the first light spot image data or the second light spot image data satisfies the dynamic range of reflected light
  • Both the first light spot image data and the second light spot image data satisfy the reflected light dynamic range
  • first spot image data nor the second spot image data satisfies the dynamic range of reflected light. For example, when lighting fails and the target object is not in the measurement range, such as too close to the imaging device or too far away from the imaging device, the returned data is too much Explosive or too weak are not suitable for calculating depth.
  • the effective range of ranging is 3 meters to 7 meters.
  • the effective ranging range classification strategy is: for a target object at a distance of 3 meters to 5 meters, it is appropriate to use the driving power W41 to drive the light source for lighting to generate spot image data for distance measurement calculation; for a distance of 5 meters
  • the driving power W42 it is suitable to use the driving power W42 to drive the light source for lighting to generate spot image data for distance measurement calculation.
  • the driving power W41 to drive the light source for lighting. This does not mean that for a target object at a distance of 3 meters to 5 meters, only the driving power W42 is used to drive the light source for lighting. Only light can generate spot image data that meets the dynamic range of reflected light. For example:
  • the light spot image data generated by using the driving power W41 to drive the light source for lighting meets the dynamic range of reflected light, and at the same time, the light spot image data generated by using the driving power W42 to drive the light source for lighting does not meet the reflected light dynamics Scope;
  • the light spot image data generated by using the driving power W41 to drive the light source for lighting does not meet the reflected light dynamic range, and at the same time, the light spot image data generated by using the driving power W42 to drive the light source for lighting meets the reflected light dynamics Scope;
  • the light spot image data generated by using the driving power W41 to drive the light source for lighting meets the dynamic range of reflected light.
  • the light spot image data generated by using the driving power W42 to drive the light source for lighting also meets the reflected light dynamics. Scope;
  • the light spot image data generated by using the driving power W41 to drive the light source for lighting does not meet the reflected light dynamic range, and at the same time, the light spot image data generated by using the driving power W42 to drive the light source for lighting does not satisfy the reflection.
  • the light spot image data generated by using the driving power W41 to drive the light source for lighting does not meet the reflected light dynamic range, and at the same time, the light spot image data generated by using the driving power W42 to drive the light source for lighting does not satisfy the reflection.
  • Optical dynamic range For a target object at a distance of about 8 meters, the light spot image data generated by using the driving power W41 to drive the light source for lighting does not meet the reflected light dynamic range, and at the same time, the light spot image data generated by using the driving power W42 to drive the light source for lighting does not satisfy the reflection.
  • the light spot image data generated by multiple light sources in the same sub-light source group may be different.
  • the distances between points on the surface of the target object and the sub-light source group are different, that is, the different light sources of the sub-light source group shine to
  • the distance experienced by the light reflected from different positions of the target object is different, which results in that when the same sub-light source illuminates the target object, the emitted light data generated by the lighting of different light sources may be different.
  • the brightness of the light spot located at the center may be higher than the brightness of the light spot located at the edge due to light scattering.
  • some may satisfy the reflected light dynamic range and the other part may not satisfy the reflected light dynamic range.
  • the light source group is divided into a first sub-light source group and a second sub-light source group.
  • the first sub-light source group emits light to generate the first spot image data
  • the second sub-light source group emits light.
  • the first sub-light source group and the second sub-light source group are simultaneously lighting to generate the first light spot image data and the second light spot image data. Then there are the following possible situations:
  • a part of the light spot image data in the first light spot image data or a part of the light spot image data in the second light spot image data satisfies the dynamic range of reflected light
  • a part of the light spot image data in the first light spot image data and a part of the light spot image data in the second light spot image data satisfy the reflected light dynamic range
  • a part of the light spot image data and the second light spot image data in the first light spot image data satisfy the reflected light dynamic range
  • the first light spot image data and a part of the second light spot image data satisfy the reflected light dynamic range.
  • the effective range of ranging is 3 meters to 7 meters.
  • the effective ranging range classification strategy is: for a target object at a distance of 3 meters to 5 meters, it is appropriate to use the driving power W41 to drive the light source for lighting to generate spot image data for distance measurement calculation; for a distance of 5 meters
  • the driving power W42 for a target object of ⁇ 7 meters, it is suitable to use the driving power W42 to drive the light source for lighting to generate spot image data for distance measurement calculation.
  • the distance between a part of the target object and the sub-light source group is about 4 meters, and the distance of another part of the target object from the sub-light source group is about 6 meters.
  • the light spot image data generated by lighting the part of the target object at a distance of about 4 meters from the sub-light source group meets the reflected light dynamic range;
  • the light spot image data generated for the part of the target object whose distance from the sub-light source group is about 6 meters does not satisfy the reflected light dynamic range.
  • the effective range of the ranging is 3 meters to 7 meters.
  • the effective ranging range classification strategy is: for a target object at a distance of 3 meters to 5 meters, it is appropriate to use the driving power W41 to drive the light source for lighting to generate spot image data for distance measurement calculation; for a distance of 5 meters
  • the driving power W42 it is suitable to use the driving power W42 to drive the light source for lighting to generate spot image data for distance measurement calculation. If for a certain sub-light source group, the sub-light source group is driven to illuminate the target object based on the same driving power, the light intensity in the center part of the lighting range is higher than the peripheral part.
  • the light source of the sub-light source group is driven by W41 or W42 for lighting
  • the light spot image data of the central part of the lighting range meets the reflected light dynamic range
  • the light spot image data of the peripheral part of the lighting range may be possible
  • the reflected light dynamic range is not satisfied; or, when the light spot image data of the peripheral part of the lighting range meets the reflected light dynamic range, the light spot image data of the central part of the lighting range may not meet the reflected light dynamic range.
  • the effective ranging range classification strategy of iToF ranging is 3 to 5 meters and 5 to 7 meters in second gears, and for target objects at a distance of 3 to 5 meters, it is appropriate to use the driver
  • the power W41 drives the light source for lighting to generate spot image data for distance measurement calculation; for a target object at a distance of 5 meters to 7 meters, it is appropriate to use the driving power W42 to drive the light source for lighting to generate spot image data for distance measurement calculation.
  • the light source group is divided into two sub light source groups (for example, the odd rows in the light source lattice shown in FIG. 3 are divided into one sub light source group, and the even rows are divided into one sub light source group).
  • the photographing device 402 photographs 1152 light spots to obtain light spot data (spot image data) of 1152 light spots. Analyzing the spot data of each spot to determine the gray value of each spot, there are the following four situations in an application scene:
  • the gray value of the 576 spots corresponding to W51 meets the dynamic range of reflected light, and the gray value of the 576 spots corresponding to W52 does not meet the dynamic range of reflected light, use the spot data of the 576 spots corresponding to W51 for measurement Distance calculation, the resolution of the distance measurement at this time is 576 distance measurement points;
  • the gray value of the 576 spots corresponding to W52 meets the dynamic range of reflected light, and the gray value of the 576 spots corresponding to W51 does not meet the dynamic range of reflected light, then use the spot data of the 576 spots corresponding to W52 for measurement Distance calculation, the resolution of the distance measurement at this time is 576 distance measurement points;
  • the distance measurement resolution is 1152 distance measurement points, and the distance measurement resolution is case a and situation 2 times of b;
  • the gray values of the 1152 light spots do not satisfy the dynamic range of the reflected light, and the ranging fails.
  • the light spot image data generated when a light source driven by the same light source driving power is used for lighting may be different.
  • the brightness of the light spot at the center may be higher than the brightness of the light spot at the edge.
  • the number of spots meeting the dynamic range of reflected light may not be 576 or 1152.
  • an embodiment of the present application also proposes a lighting control and light spot image data acquisition device.
  • Fig. 6 is a structural diagram of an embodiment of a light-emitting and light-spot image data acquisition device according to the present application.
  • the lighting control and light spot image data acquisition device 500 includes:
  • the light source control module 510 is used to drive the light source group to illuminate the target object, wherein the light source group includes a first sub-light source group and a second sub-light source group, the first sub-light source group includes a plurality of light sources, and the second sub-light source group includes In the same lighting, the light intensities of the multiple light sources in the first sub-light source group are different from the light intensities of the other multiple light sources in the second sub-light source group.
  • the light source and the other multiple light sources of the second sub-light source group do not overlap with each other for lighting the target object.
  • the light from the light source group for lighting the target object is reflected by the target object and irradiated on the same light sensor to generate multiple Spot image, the spot image corresponds to the light source one-to-one;
  • the reflected light acquisition module 520 is used to acquire the light spot image data generated by the first sub-light source group and the second sub-light source group for lighting the target object in the same lighting;
  • the data filtering module 530 is configured to filter the light spot image data according to the preset dynamic range of reflected light to obtain light spot image data that meets the preset dynamic range of reflected light.
  • an embodiment of the present application also proposes a lighting and light spot image data acquisition device.
  • Fig. 7 is a structural diagram of an embodiment of a light-emitting and light-spot image data acquisition device according to the present application.
  • the lighting and spot image data acquisition device 600 includes:
  • the light source group 601 includes a first sub-light source group and a second sub-light source group.
  • the first sub-light source group includes multiple light sources
  • the second sub-light source group includes other multiple light sources, the multiple light sources of the first sub-light source group, and
  • the other multiple light sources of the second sub-light source group do not overlap the lighting positions for the target object.
  • the light from the light source group for the target object is reflected by the target object and irradiated on the same light sensor to generate multiple spot images.
  • the light source group control module 610 which is used to drive the light source group to illuminate the target object
  • the reflected light collection module 620 is used to obtain light spot image data generated by the first sub-light source group and the second sub-light source group for lighting the target object in the same lighting;
  • the data processing module 630 is used for:
  • the light spot image data is filtered according to the preset dynamic range of reflected light to obtain light spot image data that meets the preset dynamic range of reflected light.
  • the device provided in the embodiment of the present application shown in FIG. 6 or FIG. 7 can be used to implement the technical solution of the embodiment of the present application shown in FIG. Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the device, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
  • each module/unit is only a division of logical functions.
  • the functions of each module/unit can be implemented in the same or multiple software and/or hardware.
  • These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.
  • An embodiment of the present application also proposes an electronic device.
  • the electronic device includes a memory for storing computer program instructions and a processor for executing the program instructions.
  • the computer program instructions are executed by the processor, the electronic device is triggered.
  • the device executes the method steps described in the embodiments of the present application.
  • the foregoing one or more computer programs are stored in the foregoing memory, and the foregoing one or more computer programs include instructions.
  • the foregoing instructions are executed by the foregoing device, the foregoing device executes the application. The method steps described in the embodiment.
  • the processor of the electronic device may be a central processing unit (Central Processing Unit, CPU), and may further include other types of processors.
  • the processor may have a function of operating one or more software programs, and the software programs may be stored in a storage medium.
  • the memory of the electronic device may be any computer-readable medium that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer.
  • the processor and the memory may be combined into a processing device, and more commonly, are components independent of each other.
  • the processor is used to execute the program code stored in the memory to implement the method described in the embodiment of the present application.
  • the memory may also be integrated in the processor, or independent of the processor.
  • equipment, devices, modules, or units described in the embodiments of the present application may be implemented by computer chips or entities, or implemented by products with certain functions.
  • the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.
  • any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes.
  • an embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when it runs on a computer, the computer executes the method provided in the embodiment of the present application.
  • An embodiment of the present application also provides a computer program product.
  • the computer program product includes a computer program that, when running on a computer, causes the computer to execute the method provided in the embodiment of the present application.
  • At least one refers to one or more
  • multiple refers to two or more.
  • “And/or” describes the association relationship of the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean the situation where A exists alone, A and B exist at the same time, and B exists alone. Among them, A and B can be singular or plural.
  • the character “/” generally indicates that the associated objects before and after are in an “or” relationship.
  • the following at least one item” and similar expressions refer to any combination of these items, including any combination of single items or plural items.
  • At least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single, or There can be more than one.
  • the terms “include”, “include” or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, product, or equipment including a series of elements includes not only those elements, but also Other elements that are not explicitly listed, or include elements inherent to such processes, methods, commodities, or equipment. 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, commodity or equipment that includes the element.

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Abstract

本申请实施例提供一种打光以及光斑图像数据获取方法、装置以及电子设备。方法包括：驱动光源组的第一子光源组和第二子光源组为目标物体打光，其中，在同一次打光中，所述第一子光源组的光强不同于所述第二子光源组的光强；获取同一次打光中所述第一子光源组和所述第二子光源组为所述目标物体打光所生成的光斑图像数据；根据预设反射光动态范围对所述光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像数据。根据本申请的方法，根据本申请实施例的方法，在一次打光-光斑图像数据采集就可以获取对应两种光强的光斑图像数据，大大提高了数据采集效率，降低了数据采集功耗。

Description

一种打光以及光斑图像数据获取方法、装置 技术领域
本申请涉及传感器技术领域，特别涉及一种打光以及光斑图像数据获取方法、装置。
背景技术
在光数据应用处理领域，对目标对象打光以获取对应的反射光并进一步对反射光进行数据处理，以获取所需的场景信息是一种常见的光数据应用处理方式。例如，在利用光飞行时间(Time-of-Flight，ToF)进行测距的应用方案中，通过向目标物体打光(例如，发射近红外光)以获取对应的光斑图像数据，对获取到的光斑图像数据进行处理以获取光的飞行时间信息，利用光的飞行时间信息，测量场景中物体的距离或深度。
在处理光斑图像数据时，通常会限定特定的反射光动态范围，只有处于反射光动态范围内的光斑图像数据才能被顺利处理并获取预期的处理结果。因此，为了确保光斑图像数据处于反射光动态范围内，会针对不同的应用场景采用不同的打光光强。例如，在利用间接光飞行时间(indirect Time-of-Flight，iToF)进行测距的应用方案中，针对不同距离范围的目标对象，使用不同的驱动功率驱动光源进行打光，针对较近的目标对象采用较低的光源驱动功率，针对较远的目标对象采用较高的光源驱动功率。
然而，在实际应用场景中，通常在打光前无法确认应用场景的具体应用状态，这样也就无法优选应该采用何种程度的打光光强，这就会导致打光光强过强或过弱的情况的发生，从而使得最终获取到的光斑图像数据超出反射光动态范围，最终使得无法获取预期的光斑图像数据处理结果。
发明内容
针对现有技术中无法获取处于反射光动态范围内的光斑图像数据的问题，本申请提供了一种打光以及光斑图像数据获取方法、装置。
本申请实施例采用下述技术方案：
第一方面，本申请一实施例提供一种打光以及光斑图像数据获取方法，包括：
驱动光源组为目标物体打光，其中，所述光源组包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，且在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强，所述第一子光源组的所述多个光源以及所述第二子光源组的所述另外多个光源为所述目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在所述光传感器上生成的多个光斑图像的光斑图像数据；
根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
在上述第一方面的一种可行的实现方式中，基于不同的驱动功率分别驱动所述第一子光源组和所述第二子光源组。
在上述第一方面的一种可行的实现方式中，所述驱动光源组为目标物体打光，其中：
在所述第一子光源组为所述目标物体打光的打光范围中，所述第一子光源组的所述多个光源的打光位置均匀分布；
以及，
在所述第二子光源组为所述目标物体打光的打光范围中，所述第二子光源组的所述另外多个光源的打光位置均匀分布。
在上述第一方面的一种可行的实现方式中，所述第一子光源组为所述目标物体打光的打光范围与所述第二子光源组为所述目标物体打光的打光范围为同一打光范围。
在上述第一方面的一种可行的实现方式中，所述光源组为光源点阵，其中：
所述第一子光源组为光源点阵的奇数行的点光源，所述第二子光源组为光源点阵的偶数行的点光源；
或者，
所述第一子光源组为光源点阵的奇数列的点光源，所述第二子光源组为光源点阵的偶数列的点光源。
在上述第一方面的一种可行的实现方式中，所述光源组还包括所述第一子光源组以及所述第二子光源组以外的一个或多个其他子光源组，且在同一次打光中，所述光源组中不同子光源组的光源的光强互不相同，所述光源组中所有光源为所述目标物体打光的打光位置互不重合。
在上述第一方面的一种可行的实现方式中：
所述光源组中子光源组的个数为预设子光源组数，所述光源组中各个子光源组打光的光强在预设光强有效区间内均匀分布；
或者，
所述光源组中子光源组的个数为基于预设步长对所述预设光强有效区间进行划分得到划分节点数，所述光源组中各个子光源组打光的光强在所述预设光强有效区间内均匀分布；
或者，
所述光源组中子光源组的个数与预设打光档位设置中的档位个数对应，所述光源组中子光源组打光的光强为所述预设打光档位设置中对应打光档位的光强。
在上述第一方面的一种可行的实现方式中，所述光源组中子光源组的个数以及每个所述子光源组打光的光强与处理所述光斑图像数据的应用场景需求匹配。
在上述第一方面的一种可行的实现方式中，处理所述光斑图像数据的应用场景为间接光飞行时间测距，其中：
所述光源组中子光源组的个数与所述间接光飞行时间测距的有效测距范围分档策略的分档数对应，所述光源组中每个子光源组对应一个有效测距范围；
所述光源组中子光源组打光的光强为所述子光源组对应的有效测距范围所对应的光强。
在上述第一方面的一种可行的实现方式中，处理所述光斑图像数据的应用场景为间接光飞行时间测距；
所述根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据，包括：从所述光斑图像数据中筛选出满足预设灰度值区间的光斑图像所对应的光斑图像数据。
在上述第一方面的一种可行的实现方式中，所述方法还包括：
根据筛选出的所述满足预设灰度值区间的光斑图像所对应的光斑图像数据，计算所述光源打光后经所述目标物体反射直到光斑图像数据被采集的过程中，光信号的相位偏移，根据所述光信号的相位偏移进行深度计算。
第二方面，本申请一实施例提出了一种打光控制以及光斑图像数据获取装置，包括：
光源控制模块，其用于驱动光源组为目标物体打光，其中，所述光源组包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，且在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强，所述第一子光源组的所述多个光源以及所述第二子光源组的所述另外多个光源为所述目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
反射光获取模块，其用于获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在光传感器上所生成的多个光斑图像的光斑图像数据；
数据筛选模块，其用于根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
第三方面，本申请一实施例提出了一种打光以及光斑图像数据采集装置，包括：
光源组，其包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，所述第一子光源组的所述多个光源以及所述第二子光源组的所述另外多个光源为目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
光源组控制模块，其用于驱动光源组为目标物体打光；
反射光采集模块，其用于获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在所述光传感器上生成的多个光斑图像的光斑图像数据；
数据处理模块，其用于：
发送控制指令到所述光源组控制模块，使得在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强；
根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
第四方面，本申请一实施例提供一种电子设备，所述电子设备包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器，其中，当该计算机程序指令被该处理器执行时，触发电子设备执行如上述第一方面所述的方法。
第五方面，本申请一实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，当其在电子设备上运行时，使得所述电子设备执行如上述第一方面所述的方法。
根据本申请实施例所提出的上述技术方案，至少可以实现下述技术效果：根据本申请实施例的方法，在一次打光-光斑图像数据采集就可以获取对应两种光强的光斑图像数据，而无需执行两次打光-光斑图像数据采集，大大提高了数据采集效率，降低了数据采集功耗。
附图说明
图1所示为iToF测距的一实施例的流程图；
图2所示为根据本申请打光以及光斑图像数据获取方法一实施例的流程图；
图3所示为根据本申请一实施例的光源组光源排布示意图；
图4所示为根据本申请一实施例的光源组打光生成的光斑排布示意图；
图5所示为根据本申请一实施例的打光光线经目标物体反射后在光传感器上生成的光斑图像排布示意图；
图6所示为根据本申请打光以及光斑图像数据采集装置一实施例的结构图；
图7所示为根据本申请打光以及光斑图像数据采集装置一实施例的结构图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的实施方式部分使用的术语仅用于对本申请的具体实施例进行解释，而非旨在限定本申请。
针对现有技术中无法获取处于反射光动态范围内的光斑图像数据的问题，本申请提供了一种打光以及光斑图像数据获取方法。
在实际应用场景中，无法获取处于反射光动态范围内的光斑图像数据通常是由打光的光强过高或打光的光强不足所导致的。因此，一种可行的解决方案是进行多次的打光-光斑图像数据采集操作，在每次打光操作中使用不同的光强直到获取到处于反射光动态范围内的光斑图像数据。例如，在iToF测距的一种解决方案中，将iToF设备的有效测距范围划分为近距以及远距两个阶段，分别针对近距以及远距设定对应的光源驱动功率W11以及光源驱动功率W12(W11<W12)。在进行测距时分别基于W11以及W12驱动光源进行 打光并获取对应的光斑图像数据，从获取到的两次光斑图像数据中选用满足反射光动态范围的光斑图像数据进行测距计算，或者，当两次光斑图像数据均不满足反射光动态范围时反馈测距失败。
图1所示为iToF测距的一实施例的流程图。如图1所示，测距过程包含以下步骤：
步骤110，基于驱动功率W11驱动光源打光；
步骤111，采集步骤110打光所生成的第一光斑图像数据；
步骤120，基于驱动功率W12驱动光源打光；
步骤121，采集步骤120打光所生成的第二光斑图像数据；
步骤130，从第一光斑图像数据以及第二光斑图像数据中筛选满足反射光动态范围的光斑图像数据；
步骤140，根据步骤130中筛选出的光斑图像数据进行测距计算。
基于多次打光-光斑图像数据采集操作虽然可以在无法预先确定打光光强的情况下依然可以获取到基于最佳光强所生成的光斑图像数据，从而确保获取到处于反射光动态范围内的光斑图像数据。但是，由于需要进行多次打光以及多次光斑图像数据采集操作，光斑图像数据的获取流程被延长，光斑图像数据的获取效率被大大降低，处理功耗大大增加。例如，在图1所示实施例中，就需要执行两次打光操作以及两次光斑图像数据采集操作，iToF测距的执行效率以及执行功耗都受到了影响。
针对上述问题，为了提高光斑图像数据的获取效率、降低处理功耗，在本申请申请一实施例中，采用多打光光源的方案来减少打光-光斑图像数据采集操作的执行次数。具体的，在一次打光中同时使用多个光源，每个光源打光会生成对应的光斑图像。这样，如果不同的光源采用不同的光强打光，就可以生成对应多种不同光强的光斑图像。在存在可以生成满足反射光动态范围的光斑图像的光强的前提下，一次打光所获取的光斑图像的光斑图像数据中就包含满足反射光动态范围的光斑图像的光斑图像数据。通过对获取到的光斑图像数据进行筛选，一次打光就可以获取到满足反射光动态范围的光斑图像的光斑图像数据，而无需采用不同的光强进行多次打光，这就大大提高了数据采集效率并降低了数据采集功耗。
图2所示为根据本申请打光以及光斑图像数据获取方法一实施例的流程图。如图2所示，在本申请一实施例中，执行以下步骤以获取处于反射光动态范围内的光斑图像的光斑图像数据：
步骤210，驱动光源组为目标物体打光，其中，光源组包括第一子光源组和第二子光源组，第一子光源组包括多个光源，第二子光源组包括另外的多个光源，且在同一次打光中，第一子光源组的多个光源的光强不同于第二子光源组的另外多个光源的光强，第一子光源组的多个光源以及第二子光源组的另外多个光源为目标物体打光的打光位置互不重合，光源组为目标物体打光的光线经目标物体反射后照射在同一光传感器上生成多个光斑图像，光斑图像与光源组中的光源一一对应；
步骤220，获取同一次打光中第一子光源组和第二子光源组的打光光线经目标物体反射后在光传感器上生成的多个光斑图像的光斑图像数据；
步骤230，根据预设反射光动态范围对步骤220获取的多个光斑图像的光斑图像数据进行筛选以获得满足预设反射光动态范围的光斑图像的光斑图像数据。
在图2所示实施例中，由于使用光源组的两个子光源组为目标物体打光，并且，两个子光源组打光的光强不同。这样，一次打光-光斑图像数据采集就可以获取对应两种光强的光斑图像数据，而无需执行两次打光-光斑图像数据采集，大大提高了数据采集效率，降低了数据采集功耗。
进一步的，在本申请一实施例中，光源组还包括第一子光源组以及第二子光源组以外的一个或多个其他子光源组，且在同一次打光中，光源组中不同子光源组的光源的光强互不相同，光源组中所有光源为目标物体打光的打光位置互不重合。
由于使用光源组的多个子光源组为目标物体打光，并且，不同的子光源组打光的光强不同；因此，就可以生成对应多种不同光强的光斑图像。这样，在存在可以生成满足反射光动态范围的光斑图像的光强的前提下，一次打光所获取的光斑图像的光斑图像数据中就包含满足反射光动态范围的光斑图像的光斑图像数据。而无需执行多次打光-光斑图像数据采集操作，大大提高了数据采集效率，降低了数据采集功耗。进一步的，在本申请一实施例中，通过调节光源的驱动功率来调节光源打光时的光强。即，在同时使用光源组的多个子光源组为目标物体打光的过程中，基于不同的驱动功率分别驱动多个子光源组。具体的，在步骤210的一种实现方式中，基于不同的驱动功率分别驱动第一子光源组和第二子光源组。
进一步的，在本申请一实施例中，也可以通过调节光源的驱动功率以外的其他方式来调节光源打光时的光强。例如，为光源附加不同透射率的透镜；或者，改变子光源组中启用的光源的个数。进一步的，在本申请实施例的方案中，可以采用任意可行的结构来构造光源组。具体的，在本申请一实施例中，光源组为光源点阵，光源组包含多个排列成矩阵的点光源。图3所示为根据本申请一实施例的光源组光源排布示意图。如图3所示，L1～L8为光源点阵的列序号，H1～H16为光源点阵的行序号。光源组包含以8x16排列的128个点光源。
进一步的，为了确保不同的子光源组使用不同的光强同时进行打光，就需要子光源组可以被独立控制。即，在将光源组划分为多个子光源组时，必须基于光源的控制模式来划分。具体的，在一实施例中，在如图3所示的光源点阵中，当光源组采用行驱动时，即，每一行光源具备一套驱动线路，可以单独调节一行的光源的驱动功率。因此，在进行子光源组划分时，以行为单位进行划分，不能将同一行中的光源划分到不同的子光源组中。例如，将每行光源划分为一个子光源组，或者，将每二行光源划分为一个子光源组。
具体的，在一实施例中，在如图3所示的光源点阵中，当光源组采用列驱动时，即，每一列光源具备一套驱动线路，可以单独调节一列的光源的驱动功率。因此，在进行子光源组划分时，以列为单位进行划分，不能将同一列中的光源划分到不同的子光源组中。例如，将每列光源划分为一个子光源组，或者，将每二列光源划分为一个子光源组。
具体的，在一实施例中，在如图3所示的光源点阵中，当光源组采用点驱动时，即，每一个光源具备一套驱动线路，可以单独调节任意一个光源的驱动功率。因此，在进行子 光源组划分时，以单一光源为单位进行划分。例如，将每个光源划分为一个子光源组，或者，将每二个光源划分为一个子光源组，例如将相邻的两个光源划分为一个子光源组。
进一步的，为了确保打光均匀，在本申请一实施例中，在子光源组为目标物体打光的打光范围中，子光源组的多个光源的打光位置均匀分布。具体的，在如图2所示的一实施例中，在第一子光源组为目标物体打光的打光范围中，第一子光源组的多个光源的打光位置均匀分布；以及，在第二子光源组为目标物体打光的打光范围中，第二子光源组的另外多个光源的打光位置均匀分布。
进一步的，在本申请一实施例中，不同子光源组为目标物体打光的打光范围为同一打光范围。这样，就可以使得，在子光源组为目标物体打光时，在打光范围内不同光强的打光位置均匀分布。具体的，在如图2所示的一实施例中，第一子光源组为目标物体打光的打光范围与第二子光源组为目标物体打光的打光范围为同一打光范围。
具体的，在如图2所示的一实施例中，光源组为光源点阵，第一子光源组为光源点阵的奇数行的点光源，第二子光源组为光源点阵的偶数行的点光源。或者，第一子光源组为光源点阵的奇数列的点光源，第二子光源组为光源点阵的偶数列的点光源。
例如，在如图3所示的光源点阵中，在划分两个子光源组时，光源组包括第一子光源组以及第二子光源组。
当光源组采用列驱动时，第一子光源组为光源点阵的奇数列(L1、L3、L5、L7列)的点光源，第二子光源组为光源点阵的偶数列(L2、L4、L6、L8列)的点光源。在进行打光时，4列奇数列的共计64个点采用第一驱动功率驱动，4列偶数列的共计64个点采用第二驱动功率驱动。
当光源组采用行驱动时，第一子光源组为光源点阵的奇数行(H1、H3、H5、H7、H9、H11、H13、H15行)的点光源，第二子光源组为光源点阵的偶数行(H2、H4、H6、H8、H10、H12、H14、H16行)的点光源。在进行打光时，8行奇数行的共计64个点采用第一驱动功率驱动，8行偶数行的共计64个点采用第二驱动功率驱动。
又例如，在如图3所示的光源点阵中，划分四个子光源组，当光源组采用点驱动时，每相邻两行两列中的四个光源分别属于四个子光源组。例如，光源(L1，H1)、光源(L1，H2)、光源(L2，H1)、光源(L2，H2)分属四个子光源组，光源(L3，H1)、(L5，H1)、(L7，H1)与光源(L1，H1)属于同一子光源组，光源(L3，H2)、(L5，H2)、(L7，H2)与光源(L1，H2)属于同一子光源组，光源(L4，H1)、(L6，H1)、(L8，H1)与光源(L2，H1)属于同一子光源组，光源(L4，H2)、(L6，H2)、(L8，H2)与光源(L2，H2)属于同一子光源组。
图4所示为根据本申请一实施例的光源组打光光斑排布示意图。如图4所示，图3所示的光源点阵401发出的光经准直镜准直成小角度的打光光线，打光光线按照光源点阵401的光源排布方式排布成打光光线阵列，打光光线阵列经衍射光栅复制成多份(例如，3*3)，最终投射到目标对象上，在目标对象表面形成如图4所示的光斑阵列，光斑阵列的光斑共1152点。
拍摄装置402对目标对象表面形成如图4所示的光斑阵列进行拍摄，获取1152个光斑图像的光斑图像数据。具体的，拍摄装置402所拍摄的光斑图像即为光源点阵401发出 的光照射到目标物体后被反射到拍摄装置402处形成的光斑图像。图5所示为根据本申请一实施例的打光光线经目标物体反射后在光传感器上生成的光斑图像排布示意图。形成如图4所示的光斑阵列的打光光线经目标对象反射，反射光线在拍摄装置402的光传感器上生成与图4所示的光斑阵列对应的1152个光斑图像(光斑图像阵列)。1152个光斑图像的一部分如图5所示。图5所示的每一个网格代表光传感器的一个像素，每个圆形(701、702、703、711、712、721、722以及723)代表目标物体的反射光线在光传感器上生成的一个光斑图像，每个光斑图像覆盖多个像素。
当光源组采用行驱动时，第一子光源组为光源点阵401的奇数行的点光源，第二子光源组为光源点阵401的偶数行的点光源。在光源点阵401打光时，基于第一驱动功率以及第二驱动功率分别驱动第一子光源组以及第二子光源组。图4所示的1152个光斑中对应第一驱动功率的576个，对应第二驱动功率的576个。
如图5所示，光斑图像701、702、703、721、722以及723为第一子光源组打光光线经目标对象反射后生成的光斑图像。光斑图像711、712为第二子光源组打光光线经目标对象反射后生成的光斑图像。
进一步的，在本申请一实施例中，根据光源的状态参数来确定光源组中子光源组的个数以及每个子光源组打光的光强。
具体的，在实际应用场景中，光源在正常工作时具备可以达到的光强上限以及光强下限。例如，在一应用场景中，当光源的驱动功率低于第一驱动功率时，光源无法被驱动，将第一驱动功率驱动光源时的光强设定为光强下限；当光源的驱动功率高于第二驱动功率时，光源处于过载状态，将第二驱动功率驱动光源时的光强设定为光强上限。光强上限以及光强下限构成了光源的光强有效区间。为了在一次打光中尽可能的覆盖所有的可选光强，在本申请一实施例中，根据光源的光强有效区间确定光源组中子光源组的个数以及每个子光源组打光的光强。
具体的，在本申请一实施例中，光源组中子光源组的个数为预设子光源组数，光源组中各个子光源组打光的光强在预设光强有效区间内均匀分布。
例如，光源组中的光源基于最低驱动功率W21 1以及最高驱动功率W22 1可实现其设计上的下限光强以及上限光强。假设预设子光源组数为3，则在进行子光源组划分时则将光源组划分为三个子光源组，在打光时，三个子光源组的光源驱动功率分别为W21 1、(W21 1+W22 1)/2、W22 1。
具体的，在本申请一实施例中，光源组中子光源组的个数为基于预设步长对预设光强有效区间进行划分得到划分节点数，光源组中各个子光源组打光的光强在预设光强有效区间内均匀分布。
例如，光源组中的光源基于最低驱动功率W21 2以及最高驱动功率W22 2可实现其设计上的下限光强以及上限光强。，假设预设步长为w，则在进行子光源组划分时则将光源组划分为n个子光源组，其中：
W21 2+(n-2)*w≤W22 2≤W21 2+(n-1)*w；(1)
在打光时，n个子光源组的光源驱动功率分别为W21 2、W21 2+w、W21 2+2w、…W21 2+(n-2)*w、W22 2。
进一步的，在某些应用场景中，光源被预设有打光档位设置，光源只能按照预设的打光档位设置进行打光光强的调节。因此，在本申请一实施例中，根据光源的打光档位设置确定光源组中子光源组的个数以及每个子光源组打光的光强。
具体的，在本申请一实施例中，光源组中子光源组的个数与预设打光档位设置中的档位个数对应，光源组中子光源组打光的光强为预设打光档位设置中对应打光档位的光强。
例如，光源组中的光源被设定为三档打光模式(一档打光、二档打光以及三档打光)，三档打光模式分别对应预设的光源驱动功率(W21 3、W22 3、W23 3)以实现对应的三档打光光强。在进行子光源组划分时则将光源组划分为三个子光源组，在打光时，三个子光源组的光源驱动功率分别为W21 3、W22 3、W23 3。
进一步的，在本申请一实施例中，根据处理光斑图像数据的应用场景需求确定光源组中子光源组的划分方式以及每个子光源组打光的光强。具体的，在本申请一实施例中，光源组中子光源组的个数以及每个子光源组打光的光强与处理光斑图像数据的应用场景需求匹配。
例如，在某应用场景中，只需要考虑三种打光模式，则进行子光源组划分时则将光源组划分为三个子光源组，在打光时，三个子光源组的打光光强分别为三种打光模式的光强。在另一应用场景中，在处理光斑图像数据的过程中，设定超出预设上限Q1以及低于预设下限Q2的光强所生成的光斑图像数据为无效数据，即，如果子光源组的光强超出预设上限Q1或低于预设下限Q2时，生成的光斑图像数据是无法被使用的，因此，在设定子光源组的光强时，就不能让子光源组的光强超出预设上限Q1或低于预设下限Q2。
具体的，在本申请一实施例中，处理光斑图像数据的应用场景为iToF测距，其中：
光源组中子光源组的个数与间接光飞行时间测距的有效测距范围分档策略的分档数对应，光源组中每个子光源组对应一个有效测距范围；
光源组中子光源组打光的光强为子光源组对应的有效测距范围所对应的光强。
例如，假设在某一iToF测距的应用场景中，测距有效范围为1米～7米。在该应用场景中，有效测距范围分档策略为：
对于距离1米～3米的目标物体，适宜使用驱动功率W31驱动光源进行打光以生成光斑图像数据进行测距计算；
对于距离3米～5米的目标物体，适宜使用驱动功率W32驱动光源进行打光以生成光斑图像数据进行测距计算；
对于距离5米～7米的目标物体，适宜使用驱动功率W31驱动光源进行打光以生成光斑图像数据进行测距计算。
在不清楚目标物体的距离范围时，需要基于驱动功率W31、W32、W33分别进行三次打光，才能获取符合测距计算需求的光斑图像数据，或者，确认目标物体不在测距范围内。而根据本申请一实施例的方法，将光源组划分为三个子光源组，在同一次打光时，三个子光源组的驱动功率分别为W31、W32、W33。这样，就可以在同一次打光中，就可以获取符合测距计算需求的光斑图像数据，或者，确认目标物体不在测距范围内。
又例如，假设在某一iToF测距的应用场景中，测距有效范围为3米～7米。在该应用场景中，有效测距范围分档策略为：
对于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光以生成光斑图像数据进行测距计算；
对于距离5米～7米的目标物体，适宜使用驱动功率W42驱动光源进行打光以生成光斑图像数据进行测距计算。
在不清楚目标物体的距离范围时，需要基于驱动功率W41、W42分别进行二次打光，才能获取符合测距计算需求的光斑图像数据，或者，确认目标物体不在测距范围内。而根据本申请一实施例的方法，将光源组划分为二个子光源组，在同一次打光时，二个子光源组的驱动功率分别为W41、W42。这样，就可以在同一次打光中，就可以获取符合测距计算需求的光斑图像数据，或者，确认目标物体不在测距范围内。
进一步的，本申请一实施例中，在根据预设的反射光动态范围对光斑图像数据进行筛选的过程中，根据光斑灰度值对光斑图像数据进行筛选。具体的，在一应用场景中，处理光斑图像数据的应用场景为间接光飞行时间测距；获取同一次打光中第一子光源组和第二子光源组为目标物体打光所生成的光斑图像数据的过程包括：获取同一次打光中第一子光源组和第二子光源组为目标物体打光所生成的光斑的光斑数据；根据预设反射光动态范围对光斑图像数据进行筛选以获得满足预设反射光动态范围的光斑图像数据的过程包括：从光斑数据中筛选出满足预设灰度值区间的光斑所对应的光斑数据。
进一步的，本申请一实施例中，方法还包括：
根据筛选出的满足预设灰度值区间的光斑所对应的光斑数据，计算光源打光后经目标物体反射直到光斑数据被采集的过程中，光信号的相位偏移，根据光信号的相位偏移进行深度计算。
在本申请一实施例中，根据预设的反射光动态范围对光斑图像数据进行筛选以获取满足反射光动态范围的光斑图像数据。这里需要说明的是，最终获取的满足反射光动态范围的光斑图像数据，是对所有的光斑图像数据进行筛选而得到的，而不是根据光源驱动功率进行筛选而得到的。满足反射光动态范围的光斑图像数据可以是某个子光源组打光所生成的光斑图像数据，也可以是多个子光源组打光所生成的光斑图像数据。具体的，在本申请一实施例中，假设光源组被划分为第一子光源组以及第二子光源组，第一子光源组打光生成第一光斑图像数据，第二子光源组打光生成第二光斑图像数据。在打光时，第一子光源组以及第二子光源组同时打光，生成第一光斑图像数据以及第二光斑图像数据。则存在以下可能的情况：
第一光斑图像数据或第二光斑图像数据满足反射光动态范围；
第一光斑图像数据以及第二光斑图像数据均满足反射光动态范围；
第一光斑图像数据以及第二光斑图像数据均不满足反射光动态范围，例如，打光失败，目标物体不在测量范围，比如太靠近成像装置或者距离成像装置太远的时候，返回的数据都过爆或者太弱，均不适合用于计算深度。
比如，假设在某一iToF测距的应用场景中，测距有效范围为3米～7米。在该应用场景中，有效测距范围分档策略为：对于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光以生成光斑图像数据进行测距计算；对于距离5米～7米的目标物体，适宜使用驱动功率W42驱动光源进行打光以生成光斑图像数据进行测距计算。然而，对 于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光，并不等于是说，对于距离3米～5米的目标物体，只有使用驱动功率W42驱动光源进行打光才能生成满足反射光动态范围的光斑图像数据。例如：
对于距离3.5米左右的目标物体，使用驱动功率W41驱动光源进行打光所生成光斑图像数据满足反射光动态范围，同时，使用驱动功率W42驱动光源进行打光所生成光斑图像数据不满足反射光动态范围；
对于距离6.5米左右的目标物体，使用驱动功率W41驱动光源进行打光所生成光斑图像数据不满足反射光动态范围，同时，使用驱动功率W42驱动光源进行打光所生成光斑图像数据满足反射光动态范围；
对于距离5米左右的目标物体，使用驱动功率W41驱动光源进行打光所生成光斑图像数据满足反射光动态范围，同时，使用驱动功率W42驱动光源进行打光所生成光斑图像数据也满足反射光动态范围；
对于距离2米左右的目标物体，使用驱动功率W41驱动光源进行打光所生成光斑图像数据不满足反射光动态范围，同时，使用驱动功率W42驱动光源进行打光所生成光斑图像数据也不满足反射光动态范围；
对于距离8米左右的目标物体，使用驱动功率W41驱动光源进行打光所生成光斑图像数据不满足反射光动态范围，同时，使用驱动功率W42驱动光源进行打光所生成光斑图像数据也不满足反射光动态范围。
进一步的，考虑到同一子光源组中的多个光源进行打光所生成的光斑图像数据可能不同。
例如，假设目标物体具备不平整的表面，那么相对于一个子光源组而言，目标物体表面上不同位置的点距离子光源组的距离是不同的，即，子光源组的不同光源打光到目标物体的不同位置后反射回来的光所经历的距离是不同的，这就导致同一子光源为目标物体打光时，不同光源打光所生成的放射光数据可能是不同的。
又例如，在图4所示的应用场景中，在驱动功率相同的情况下，由于光线散射，位于中心的光斑的亮度可能会高于位于边缘的光斑的亮度。
因此，对于同一子光源组而言，其所包含的多个光源打光所生成的多个光斑图像数据中，可能有一部分满足反射光动态范围并且另一部分不满足反射光动态范围。
具体的，在本申请一实施例中，假设光源组被划分为第一子光源组以及第二子光源组，第一子光源组打光生成第一光斑图像数据，第二子光源组打光生成第二光斑图像数据。在打光时，第一子光源组以及第二子光源组同时打光，生成第一光斑图像数据以及第二光斑图像数据。则还存在以下可能的情况：
第一光斑图像数据中的一部分光斑图像数据或第二光斑图像数据的一部分光斑图像数据满足反射光动态范围；
第一光斑图像数据中的一部分光斑图像数据以及第二光斑图像数据的一部分光斑图像数据满足反射光动态范围；
第一光斑图像数据中的一部分光斑图像数据以及第二光斑图像数据满足反射光动态范围；
第一光斑图像数据以及第二光斑图像数据的一部分光斑图像数据满足反射光动态范围。
比如，假设在某一iToF测距的应用场景中，测距有效范围为3米～7米。在该应用场景中，有效测距范围分档策略为：对于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光以生成光斑图像数据进行测距计算；对于距离5米～7米的目标物体，适宜使用驱动功率W42驱动光源进行打光以生成光斑图像数据进行测距计算。假如对于某一子光源组而言，目标物体的一部分距离该子光源组的距离为4米左右，目标物体的另一部分距离该子光源组的距离为6米左右。那么，当以W41驱动该子光源组的光源进行打光时，为距离该子光源组的距离为4米左右的目标物体的那一部分打光所生成的光斑图像数据就满足反射光动态范围；为距离该子光源组的距离为6米左右的目标物体的那一部分打光所生成的光斑图像数据就不满足反射光动态范围。
又比如，假设在某一iToF测距的应用场景中，测距有效范围为3米～7米。在该应用场景中，有效测距范围分档策略为：对于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光以生成光斑图像数据进行测距计算；对于距离5米～7米的目标物体，适宜使用驱动功率W42驱动光源进行打光以生成光斑图像数据进行测距计算。假如对于某一子光源组而言，基于同一驱动功率驱动子光源组为目标物体打光，打光范围的中心部分的光强要高于周边部分。那么，当以W41或W42驱动该子光源组的光源进行打光时，当打光范围的中心部分的光斑图像数据满足反射光动态范围时，打光范围的周边部分的光斑图像数据就有可能不满足反射光动态范围；或者，当打光范围的周边部分的光斑图像数据满足反射光动态范围时，打光范围的中心部分的光斑图像数据就有可能不满足反射光动态范围。
进一步，在实际应用场景中，根据满足反射光动态范围的光斑图像数据所对应的子光源组个数的不同，可以实现不同的处理分辨率。
例如，在一应用场景中，iToF测距的有效测距范围分档策略为3米～5米、5米～7米二档，并且，对于距离3米～5米的目标物体，适宜使用驱动功率W41驱动光源进行打光以生成光斑图像数据进行测距计算；对于距离5米～7米的目标物体，适宜使用驱动功率W42驱动光源进行打光以生成光斑图像数据进行测距计算。则，将光源组划分为二个子光源组(例如，将图3所示的光源点阵中奇数行分为一个子光源组，偶数行分为一个子光源组)。在打光时，基于W51以及W52分别驱动二个子光源组打光到目标物体上，在目标物体表面生成如图4所示的1152个光斑，1152个光斑中对应W51的576个，对应W52的576个。
拍摄装置402拍摄1152个光斑获取1152个光斑的光斑数据(光斑图像数据)。解析各个光斑的光斑数据以确定各个光斑的光斑灰度值，则在一应用场景中存在下述四种情况：
a，对应W51的576个光斑的光斑灰度值满足反射光动态范围，对应W52的576个光斑的光斑灰度值不满足反射光动态范围，则使用对应W51的576个光斑的光斑数据进行测距计算，此时的测距分辨率为576个测距点；
b，对应W52的576个光斑的光斑灰度值满足反射光动态范围，对应W51的576个光斑的光斑灰度值不满足反射光动态范围，则使用对应W52的576个光斑的光斑数据进行测距计算，此时的测距分辨率为576个测距点；
c，1152个光斑的光斑灰度值均满足反射光动态范围，则使用1152个光斑进行测距计算，此时的测距分辨率为1152个测距点，测距分辨率为情况a以及情况b的2倍；
d，1152个光斑的光斑灰度值均不满足反射光动态范围，测距失败。
进一步的，在某些实际应用场景中，基于同一光源驱动功率驱动的光源打光时所生成的光斑图像数据可能是不同的。例如，在图4所示的应用场景中，在驱动功率相同的情况下，位于中心的光斑的亮度可能会高于位于边缘的光斑的亮度。在这种情况下，满足反射光动态范围的光斑个数就可能不是576个或1152个。
可以理解的是，上述实施例中的部分或全部步骤骤或操作仅是示例，本申请实施例还可以执行其它操作或者各种操作的变形。此外，各个步骤可以按照上述实施例呈现的不同的顺序来执行，并且有可能并非要执行上述实施例中的全部操作。
进一步的，基于本申请一实施例中提出的打光以及光斑图像数据获取方法，本申请一实施例还提出了一种打光控制以及光斑图像数据获取装置。图6所示为根据本申请打光以及光斑图像数据采集装置一实施例的结构图。在本申请一实施例中，如图6所示，在本申请一实施例中，打光控制以及光斑图像数据获取装置500包括：
光源控制模块510，其用于驱动光源组为目标物体打光，其中，光源组包括第一子光源组和第二子光源组，第一子光源组包括多个光源，第二子光源组包括另外的多个光源，且在同一次打光中，第一子光源组的多个光源的光强不同于第二子光源组的另外多个光源的光强，第一子光源组的多个光源以及第二子光源组的另外多个光源为目标物体打光的打光位置互不重合，光源组为目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，光斑图像与光源一一对应；
反射光获取模块520，其用于获取同一次打光中第一子光源组和第二子光源组为目标物体打光所生成的光斑图像数据；
数据筛选模块530，其用于根据预设反射光动态范围对光斑图像数据进行筛选以获得满足预设反射光动态范围的光斑图像数据。
进一步的，基于本申请一实施例中提出的打光以及光斑图像数据获取方法，本申请一实施例还提出了一种打光以及光斑图像数据采集装置。图7所示为根据本申请打光以及光斑图像数据采集装置一实施例的结构图。在本申请一实施例中，如图7所示，在本申请一实施例中，打光以及光斑图像数据采集装置600包括：
光源组601，其包括第一子光源组和第二子光源组，第一子光源组包括多个光源，第二子光源组包括另外的多个光源，第一子光源组的多个光源以及第二子光源组的另外多个光源为目标物体打光的打光位置互不重合，光源组为目标物体打光的光线经目标物体反射后照射在同一光传感器上生成多个光斑图像，光斑图像与光源一一对应；
光源组控制模块610，其用于驱动光源组为目标物体打光；
反射光采集模块620，其用于获取同一次打光中第一子光源组和第二子光源组为目标物体打光所生成的光斑图像数据；
数据处理模块630，其用于：
发送控制指令到光源组控制模块，使得在同一次打光中，第一子光源组的多个光源的光强不同于第二子光源组的另外多个光源的光强；
根据预设反射光动态范围对光斑图像数据进行筛选以获得满足预设反射光动态范围的光斑图像数据。
图6或图7所示的本申请实施例提供的装置可用于执行图2所示的本申请实施例的技术方案，其实现原理和技术效果可以进一步参考方法实施例中的相关描述。所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请实施例的描述中，为了描述的方便，描述装置时以功能分为各种模块/单元分别描述，各个模块/单元的划分仅仅是一种逻辑功能的划分，在实施本申请实施例时可以把各模块/单元的功能在同一个或多个软件和/或硬件中实现。
本申请中的实施例描述是参照根据本申请实施例的方法、设备(装置)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
本申请一实施例还提出了一种电子设备，电子设备包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器，其中，当该计算机程序指令被该处理器执行时，触发电子设备执行如本申请实施例所述的方法步骤。
具体的，在本申请一实施例中，上述一个或多个计算机程序被存储在上述存储器中，上述一个或多个计算机程序包括指令，当上述指令被上述设备执行时，使得上述设备执行本申请实施例所述的方法步骤。
具体的，在本申请一实施例中，电子设备的处理器可以是中央处理器(Central Processing Unit，CPU)，还可以进一步包括其他类型的处理器。处理器可以具有操作一个或多个软件程序的功能，软件程序可以存储在存储介质中。
具体的，在本申请一实施例中，电子设备的存储器可以是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何计算机可读介质。
具体的，在本申请一实施例中，处理器可以和存储器可以合成一个处理装置，更常见的是彼此独立的部件，处理器用于执行存储器中存储的程序代码来实现本申请实施例所述方法。具体实现时，该存储器也可以集成在处理器中，或者，独立于处理器。
进一步的，本申请实施例阐明的设备、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。
本领域内的技术人员应明白，本申请实施例可提供为方法、装置、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。
在本申请所提供的几个实施例中，任一功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案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一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。
进一步的，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质上实施的计算机程序产品的形式。
具体的，本申请一实施例中还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行本申请实施例提供的方法。
本申请一实施例还提供一种计算机程序产品，该计算机程序产品包括计算机程序，当其在计算机上运行时，使得计算机执行本申请实施例提供的方法。
还需要说明的是，本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示单独存在A、同时存在A和B、单独存在B的情况。其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项”及其类似表达，是指的这些项中的任意组合，包括单项或复数项的任意组合。例如，a，b和c中的至少一项可以表示：a，b，c，a和b，a和c，b和c或a和b和c，其中a，b，c可以是单个，也可以是多个。
本申请实施例中，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、商品或者设备不仅包括那些要素，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、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本申请中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述，仅为本申请的具体实施方式，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。本申请的保护范围应以所述权利要求的保护范围为准。

Claims (15)

  1. 一种打光以及光斑图像数据获取方法，其特征在于，包括：
    驱动光源组为目标物体打光，其中，所述光源组包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，且在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强，所述第一子光源组的所述多个光源以及所述第二子光源组的所述另外多个光源为所述目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
    获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在所述光传感器上生成的多个光斑图像的光斑图像数据；
    根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
  2. 根据权利要求1所述的方法，其特征在于，基于不同的驱动功率分别驱动所述第一子光源组和所述第二子光源组。
  3. 根据权利要求1所述的方法，其特征在于，所述驱动光源组为目标物体打光，其中：
    在所述第一子光源组为所述目标物体打光的打光范围中，所述第一子光源组的所述多个光源的打光位置均匀分布；
    以及，
    在所述第二子光源组为所述目标物体打光的打光范围中，所述第二子光源组的所述另外多个光源的打光位置均匀分布。
  4. 根据权利要求3所述的方法，其特征在于，所述第一子光源组为所述目标物体打光的打光范围与所述第二子光源组为所述目标物体打光的打光范围为同一打光范围。
  5. 根据权利要求4所述的方法，其特征在于，所述光源组为光源点阵，其中：
    所述第一子光源组为光源点阵的奇数行的点光源，所述第二子光源组为光源点阵的偶数行的点光源；
    或者，
    所述第一子光源组为光源点阵的奇数列的点光源，所述第二子光源组为光源点阵的偶数列的点光源。
  6. 根据权利要求1～5中任一项所述的方法，其特征在于，所述光源组还包括所述第一子光源组以及所述第二子光源组以外的一个或多个其他子光源组，且在同一次打光中，所述光源组中不同子光源组的光源的光强互不相同，所述光源组中所有光源为所述目标物体打光的打光位置互不重合。
  7. 根据权利要求6所述的方法，其特征在于：
    所述光源组中子光源组的个数为预设子光源组数，所述光源组中各个子光源组打光的光强在预设光强有效区间内均匀分布；
    或者，
    所述光源组中子光源组的个数为基于预设步长对所述预设光强有效区间进行划分得到划分节点数，所述光源组中各个子光源组打光的光强在所述预设光强有效区间内均匀分布；
    或者，
    所述光源组中子光源组的个数与预设打光档位设置中的档位个数对应，所述光源组中子光源组打光的光强为所述预设打光档位设置中对应打光档位的光强。
  8. 根据权利要求6所述的方法，其特征在于，所述光源组中子光源组的个数以及每个所述子光源组打光的光强与处理所述光斑图像数据的应用场景需求匹配。
  9. 根据权利要求8所述的方法，其特征在于，处理所述光斑图像数据的应用场景为间接光飞行时间测距，其中：
    所述光源组中子光源组的个数与所述间接光飞行时间测距的有效测距范围分档策略的分档数对应，所述光源组中每个子光源组对应一个有效测距范围；
    所述光源组中子光源组打光的光强为所述子光源组对应的有效测距范围所对应的光强。
  10. 根据权利要求1～9中任一项所述的方法，其特征在于，处理所述光斑图像数据的应用场景为间接光飞行时间测距；
    所述根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据，包括：从所述光斑图像数据中筛选出满足预设灰度值区间的光斑图像所对应的光斑图像数据。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    根据筛选出的所述满足预设灰度值区间的光斑图像所对应的光斑图像数据，计算所述光源打光后经所述目标物体反射直到光斑图像数据被采集的过程中，光信号的相位偏移，根据所述光信号的相位偏移进行深度计算。
  12. 一种打光控制以及光斑图像数据获取装置，其特征在于，包括：
    光源控制模块，其用于驱动光源组为目标物体打光，其中，所述光源组包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，且在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强，所述第一子光源组的所述多个光源以及所述第二子光源组的所述另外多个光源为所述目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
    反射光获取模块，其用于获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在光传感器上所生成的多个光斑图像的光斑图像数据；
    数据筛选模块，其用于根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
  13. 一种打光以及光斑图像数据采集装置，其特征在于，包括：
    光源组，其包括第一子光源组和第二子光源组，所述第一子光源组包括多个光源，所述第二子光源组包括另外的多个光源，所述第一子光源组的所述多个光源以及所述第二子 光源组的所述另外多个光源为目标物体打光的打光位置互不重合，所述光源组为所述目标物体打光的光线经所述目标物体反射后照射在同一光传感器上生成多个光斑图像，所述光斑图像与所述光源一一对应；
    光源组控制模块，其用于驱动光源组为目标物体打光；
    反射光采集模块，其用于获取同一次打光中所述第一子光源组和所述第二子光源组的打光光线经所述目标物体反射后在所述光传感器上生成的多个光斑图像的光斑图像数据；
    数据处理模块，其用于：
    发送控制指令到所述光源组控制模块，使得在同一次打光中，所述第一子光源组的所述多个光源的光强不同于所述第二子光源组的所述另外多个光源的光强；
    根据预设反射光动态范围对所述多个光斑图像的光斑图像数据进行筛选以获得满足所述预设反射光动态范围的光斑图像的光斑图像数据。
  14. 一种电子设备，其特征在于，所述电子设备包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器，其中，当该计算机程序指令被该处理器执行时，触发电子设备执行如权利要求1～11中任一项所述的方法。
  15. 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中存储有计算机程序，当其在电子设备上运行时，使得所述电子设备执行如权利要求1～11中任一项所述的方法。
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Publication number Priority date Publication date Assignee Title
CN101755486A (zh) * 2007-07-18 2010-06-23 皇家飞利浦电子股份有限公司 用于处理构造物中的光的方法以及照明系统
CN103905738A (zh) * 2012-12-31 2014-07-02 博世汽车部件(苏州)有限公司 高动态范围图像生成系统及方法
WO2017038203A1 (ja) * 2015-08-28 2017-03-09 富士フイルム株式会社 距離画像取得装置付きプロジェクタ装置及びプロジェクションマッピング方法
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Publication number Priority date Publication date Assignee Title
CN101755486A (zh) * 2007-07-18 2010-06-23 皇家飞利浦电子股份有限公司 用于处理构造物中的光的方法以及照明系统
CN103905738A (zh) * 2012-12-31 2014-07-02 博世汽车部件(苏州)有限公司 高动态范围图像生成系统及方法
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