CN115442494B - Multi-exposure-based gray scale image generation method for TOF (time of flight) camera module - Google Patents
Multi-exposure-based gray scale image generation method for TOF (time of flight) camera module Download PDFInfo
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Abstract
Disclosed is a gray scale image generation method based on multiple exposure for a TOF camera module, comprising: acquiring exposure data acquired by a TOF camera module; determining an I value and a Q value of a pixel point in the exposure data; respectively filtering the I value and the Q value of the pixel point in the exposure data; and determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data. In the process of determining the I value and the Q value of the pixel point in the exposure data, a third I value and a third Q value of the pixel point of the overexposed part are determined based on the exposure parameter of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part. The gray scale measurement method can effectively reduce the influence of overexposure on gray scale measurement in the gray scale measurement process so as to improve the quality of gray scale images generated by the TOF camera module.
Description
Technical Field
The application relates to the field of camera modules, in particular to a gray image generation method based on multiple exposure for a TOF camera module, a gray image generation device based on multiple exposure for the TOF camera module and electronic equipment.
Background
In recent years, imaging modules (for example, TOF imaging modules) having a depth information measurement function have been widely used in fields such as industrial production, health care, and military security. The TOF camera module emits a modulation signal to a detected target and receives an echo signal reflected by the detected target, so that a depth image and a gray level image of the detected target are generated based on the emission signal and the echo signal.
Along with the increasing complexity of application scenes, users have increasingly higher requirements on imaging quality of the TOF camera module besides continuously improving the requirements on depth measurement accuracy of the TOF camera module, namely, the requirements on gray images acquired by the TOF camera module are increasingly higher.
However, in a practical application scenario, when a highlight region (a region with sufficient light) and a shadow region (a region with relatively low light) appear in a measured target region, overexposure light of the highlight region causes the TOF camera module to receive too much light reflected by the highlight region, and the received light reflected by the shadow region is relatively less. In this scenario, a whitened area corresponding to the highlight area and a black area corresponding to the shadow area appear in the generated grayscale image, that is, in practical application, overexposure affects the imaging quality of the TOF camera module.
Therefore, an image processing scheme for a TOF camera module is desired to improve the imaging quality of a grayscale image of the TOF camera module.
Disclosure of Invention
The application provides a gray level image generating method based on multiple exposure for a TOF (time of flight) camera module, a gray level image generating device based on multiple exposure for the TOF camera module and an electronic device, which improve the imaging quality of the gray level image generated by the TOF camera module through optimization of an algorithm end.
The application further provides a gray scale image generating method based on multiple exposure for the TOF camera module, a gray scale image generating device based on multiple exposure for the TOF camera module and electronic equipment, wherein the gray scale image generating method can effectively reduce the influence of overexposure on gray scale data in the gray scale data acquisition process so as to improve the imaging quality of the gray scale image generated by the TOF camera module.
Another advantage of the present application is to provide a multi-exposure-based gray scale image generating method for a TOF camera module, a multi-exposure-based gray scale image generating device for a TOF camera module, and an electronic apparatus, wherein the gray scale image generating method uses a correlation between gray scale data of an overexposed portion and gray scale data of a low exposed portion to process the overexposed portion in an image, so as to effectively reduce an influence of overexposed light on gray scale data in a gray scale data acquisition process.
To achieve at least one of the above or other advantages and objects, according to one aspect of the present application, there is provided a multi-exposure-based gray scale image generating method for a TOF camera module, including:
Acquiring exposure data acquired by a TOF camera module, wherein the exposure data comprises a low exposure part, a high exposure part and an overexposure part, a first exposure parameter of the low exposure part is lower than a preset parameter value, a second exposure parameter of the high exposure part and the overexposure part is higher than or equal to the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value;
determining the I value and the Q value of the pixel point in the exposure data comprises the following steps:
Determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part;
determining a second I value and a second Q value of the pixel points of the high exposure part based on the exposure values of the pixel points in the high exposure part; and
Determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part;
Respectively filtering the I value and the Q value of the pixel point in the exposure data; and
And determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
In the gray image generation method based on multiple exposures for a TOF camera module according to the present application, determining a third I value and a third Q value of a pixel point of the overexposed portion based on an exposure value of the pixel point in the overexposed portion and the first I value and the first Q value of a pixel point of the low exposed portion corresponding to the pixel point of the overexposed portion, includes: obtaining a third I value of the pixel point of the overexposed part according to the following formulaWherein I new represents the third I value, I l represents the first I value, exposure h represents the Exposure value of the pixel point in the overexposed part, and Exposure l represents the Exposure value of the pixel point in the low exposed part corresponding to the pixel point in the overexposed part; and obtaining a third Q value of the pixel point of the overexposed part by the following formulaWherein Q new represents the third Q value, Q l represents the first Q value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion.
According to the gray image generation method based on multiple exposure for the TOF camera module, the filtering of the I value and the Q value of the pixel point in the exposure data respectively comprises the following steps: respectively performing fast Fourier transform on the I value and the Q value of the pixel point in the exposure data to generate a Fourier I transform value and a Fourier Q transform value; respectively carrying out normalization processing on the Fourier I transformation value and the Fourier Q transformation value to obtain a normalized I transformation value and a normalized Q transformation value; and filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value.
According to the gray scale image generating method based on multiple exposure for the TOF camera module, the method for acquiring the exposure data acquired by the TOF camera module comprises the following steps: and acquiring exposure data acquired by the TOF camera module from an external storage unit.
According to the gray scale image generating method based on multiple exposure for the TOF camera module, the method for acquiring the exposure data acquired by the TOF camera module comprises the following steps: acquiring initial exposure data acquired by a TOF camera module; and analyzing effective data and invalid data in the initial exposure data based on the preset threshold, wherein the exposure value of each pixel point in the effective data is lower than the preset threshold, and the exposure value of each pixel point in the invalid data is higher than or equal to the preset threshold.
According to the gray image generation method based on multiple exposure for the TOF camera module, the external storage unit is a double-rate synchronous dynamic random access memory.
The gray scale image generating method based on multiple exposure for TOF camera module of the application comprises the following steps:
Acquiring high exposure data acquired by a TOF camera module under a second exposure parameter, wherein the high exposure data comprises a high exposure part and an overexposure part, the second exposure parameter is higher than the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value;
Determining a second I value and a second Q value of the pixel points of the high exposure part based on the exposure values of the pixel points in the high exposure part;
acquiring a low exposure part acquired by a TOF camera module under a first exposure parameter, wherein the first exposure parameter is lower than the preset parameter value;
Determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part;
determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part;
Respectively filtering the I value and the Q value of the pixel point in the exposure data; and
And determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
In the multi-exposure-based gray scale image generation method for the TOF camera module according to the present application, the multi-exposure-based gray scale image generation method for the TOF camera module is performed by parallel chips.
According to the gray image generation method based on multiple exposures for the TOF camera module, the first I value and the first Q value of the pixel point of the low exposure part are determined based on the first exposure value of each pixel point in the low exposure part, and the third I value and the third Q value of the pixel point of the overexposed part are determined in parallel based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposure part corresponding to the pixel point of the overexposed part.
According to another aspect of the present application, there is provided a multi-exposure-based gray scale image generating apparatus for a TOF camera module, comprising:
An exposure data acquisition unit, configured to acquire exposure data acquired by a TOF camera module, where the exposure data includes a low exposure portion, a high exposure portion, and an overexposure portion, where a first exposure parameter of the low exposure portion is lower than a preset parameter value, and second exposure parameters of the high exposure portion and the overexposure portion are higher than or equal to the preset parameter value, and exposure values of pixel points in the overexposure portion are higher than or equal to a preset threshold value;
A data determining unit, configured to determine an I value and a Q value of a pixel point in the exposure data, where the I value and Q value determining unit includes:
A first subunit, configured to determine a first I value and a first Q value of a pixel point of the low exposure portion based on an exposure value of each pixel point in the low exposure portion;
a second subunit, configured to determine a second I value and a second Q value of the pixel point of the high-exposure portion based on the exposure value of each pixel point in the high-exposure portion; and
A third subunit, configured to determine a third I value and a third Q value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion;
The filtering unit is used for filtering the I value and the Q value of the pixel point in the exposure data respectively; and
And the gray data processing unit is used for determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data so as to generate a gray image.
In the gray scale image generating apparatus based on multiple exposure for a TOF camera module according to the present application, the third subunit is further configured to: obtaining a third I value of the pixel point of the overexposed part according to the following formulaWherein I new represents the third I value, I l represents the first I value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion; and obtaining a third Q value of the pixel point of the overexposed part by the following formulaWherein Q new represents the third Q value, Q l represents the first Q value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion.
In the gray-scale image generating device based on multiple exposures for a TOF camera module according to the present application, the filtering unit is further configured to: respectively performing fast Fourier transform on the I value and the Q value of the pixel point in the exposure data to generate a Fourier I transform value and a Fourier Q transform value; respectively carrying out normalization processing on the Fourier I transformation value and the Fourier Q transformation value to obtain a normalized I transformation value and a normalized Q transformation value; and filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value.
According to still another aspect of the present application, there is provided an electronic device including: a memory and a processor, in which computer program instructions are stored which, when run by the processor, cause the processor to perform a multi-exposure based grayscale image generation method for a TOF camera module as described above.
Further objects and advantages of the present application will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present application will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
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These and/or other aspects and advantages of the present application will become more apparent and more readily appreciated from the following detailed description of the embodiments of the application, taken in conjunction with the accompanying drawings, wherein:
Fig. 1 illustrates a schematic diagram of data processing in a gray-scale image generation method based on multiple exposures for a TOF camera module according to an embodiment of the application.
Fig. 2 illustrates a flowchart of a multi-exposure-based gray scale image generation method for a TOF camera module according to an embodiment of the present application.
Fig. 3 illustrates a flowchart for determining the I value and the Q value of a pixel point in the exposure data in the multi-exposure-based gray scale image generation method for a TOF camera module according to an embodiment of the present application.
Fig. 4 illustrates a flowchart of a variant implementation of a multi-exposure based gray scale image generation method for a TOF camera module in accordance with an embodiment of the present application.
Fig. 5 illustrates a block diagram of a multi-exposure-based grayscale image generating apparatus for a TOF camera module according to an embodiment of the application.
Fig. 6 illustrates a block diagram of a data determination unit in a multi-exposure-based grayscale image generating apparatus for a TOF camera module according to an embodiment of the present application.
Fig. 7 illustrates a schematic diagram of data transfer in a multi-exposure-based grayscale image generating device for a TOF camera module according to an embodiment of the application.
Fig. 8 illustrates a block diagram of an electronic device according to an embodiment of the application.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the application. The embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the application defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the application.
Summary of the application
As described above, in the actual application scenario, when a highlight region (a region with sufficient light) and a shadow region (a region with relatively low light) appear in the measured target region, overexposure light of the highlight region causes the TOF camera module to receive too much light reflected by the highlight region, and the received light reflected by the shadow region is relatively less. In this scenario, a whitened area corresponding to the highlight area and a black area corresponding to the shadow area appear in the generated grayscale image, that is, in practical application, overexposure affects the imaging quality of the TOF camera module.
Specifically, the principle of acquiring gray data by the TOF camera module is as follows: the TOF camera module emits a modulation signal to a detected target object, receives an echo signal reflected by the target object, obtains an I value and a Q value through exposure values of the echo signal received by the TOF camera module at different exposure times, and further determines gray data based on the I value and the Q value.
When the highlight region in the measured target region is overexposed, the light quantity of the echo signal reflected by the highlight region received by the TOF camera module is too high, and the exposure value capable of representing the light quantity of the optical signal (for example, the echo signal) is limited. When the light quantity of the echo signal received by the TOF camera module exceeds the range which can be represented by the threshold value preset by the exposure value, the exposure value of the echo signal measured by the TOF camera module is difficult to accurately represent the real light quantity of the received echo signal. Accordingly, the gray data obtained by the measured exposure value of the echo signal will hardly reflect the true gray corresponding to the over-exposed highlight region, which appears as a whitened region in the generated gray image, and the detail features of the highlight region cannot be displayed. Accordingly, the shadow region appears as a black region in the generated gray scale image, and the detail features of the shadow region cannot be displayed.
Based on the above, in order to reduce the influence of overexposure on the imaging quality of the gray image generated by the TOF imaging module, the imaging quality of the TOF may be improved based on the principle that the TOF imaging module acquires gray data. The inventor of the present application considers that since the exposure value of the echo signal reflected by the highlight region measured by the TOF camera module is difficult to characterize the real light amount of the received echo signal, the manner of obtaining the I value and the Q value may be changed, and further, gray data is determined based on the obtained I value and Q value.
Specifically, overexposure may cause the light quantity of the received echo signal to exceed a range that can be represented by a threshold preset by the exposure value, while the light quantity of the received echo signal is lower than the preset threshold under the low exposure parameter, and the measured exposure value of the echo signal can more accurately represent the light quantity of the echo signal. The overexposed portion of the image may be processed using an association between the gray data of the overexposed portion and the gray data of the underexposed portion.
More specifically, first, the I value and the Q value of the pixel point of the low-exposure portion are determined based on the exposure value of each pixel point in the low-exposure portion. And then, determining the I value and the Q value of the pixel point of the overexposed part by utilizing the ratio of the exposure value of the overexposed part to the exposure value of the underexposed part, and finally, determining the gray data based on the I value and the Q value of the pixel point of the overexposed part.
Based on the above, the application provides a gray scale image generating method based on multiple exposure for a TOF camera module, which comprises the following steps: acquiring exposure data acquired by a TOF camera module, wherein the exposure data comprises a low exposure part, a high exposure part and an overexposure part, a first exposure parameter of the low exposure part is lower than a preset parameter value, a second exposure parameter of the high exposure part and the overexposure part is higher than or equal to the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value; determining the I value and the Q value of the pixel point in the exposure data comprises the following steps: determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part; determining a second I value and a second Q value of the pixel points of the high exposure part based on the exposure values of the pixel points in the high exposure part; and determining a third I value and a third Q value of the pixel point of the overexposed portion based on the exposure value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point of the low exposed portion corresponding to the pixel point of the overexposed portion; respectively filtering the I value and the Q value of the pixel point in the exposure data; and determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
The application also provides a gray level image generation method based on multiple exposure for the TOF camera module, which comprises the following steps: an exposure data acquisition unit, configured to acquire exposure data acquired by a TOF camera module, where the exposure data includes a low exposure portion, a high exposure portion, and an overexposure portion, where a first exposure parameter of the low exposure portion is lower than a preset parameter value, and second exposure parameters of the high exposure portion and the overexposure portion are higher than or equal to the preset parameter value, and exposure values of pixel points in the overexposure portion are higher than or equal to a preset threshold value; a data determining unit, configured to determine an I value and a Q value of a pixel point in the exposure data, where the I value and Q value determining unit includes: a first subunit, configured to determine a first I value and a first Q value of a pixel point of the low exposure portion based on an exposure value of each pixel point in the low exposure portion; a second subunit, configured to determine a second I value and a second Q value of the pixel point of the high-exposure portion based on the exposure value of each pixel point in the high-exposure portion; and a third subunit, configured to determine a third I value and a third Q value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion; the filtering unit is used for filtering the I value and the Q value of the pixel point in the exposure data respectively; and a gray data processing unit for determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
The application also provides an electronic device, comprising: a memory; and a processor having stored in the memory computer program instructions that, when executed by the processor, cause the processor to perform the multi-exposure based grayscale image generation method for a TOF camera module as described above.
Having described the basic principles of the present application, various non-limiting embodiments of the present application will now be described in detail with reference to the accompanying drawings.
First exemplary Gray image Generation method
Referring to fig. 1 to 3, a gray-scale image generating method based on multiple exposures for a TOF camera module according to an embodiment of the present application is illustrated, wherein the gray-scale image generating method includes: s110, acquiring exposure data acquired by a TOF camera module, wherein the exposure data comprises a low exposure part, a high exposure part and an overexposure part, a first exposure parameter of the low exposure part is lower than a preset parameter value, and a second exposure parameter of the high exposure part and the overexposure part is higher than or equal to the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value; s120, determining an I value and a Q value of a pixel point in the exposure value; s130, respectively filtering the I value and the Q value of the pixel point in the exposure value; and S140, determining gray data based on the I value and the Q value of the pixel point in the filtered exposure value to generate a gray image.
In step S110, exposure data acquired by the TOF camera module is acquired. Specifically, the exposure data includes the low-exposure portion acquired by the TOF camera module under a first exposure parameter, and the high-exposure portion and the low-exposure portion acquired by the TOF camera module under a second exposure parameter, wherein the first exposure parameter is lower than a preset parameter value, and the second exposure parameter is higher than or equal to the preset parameter value.
It should be noted that, in a specific example of the present application, exposure data collected by the TOF camera module may be obtained from an external storage unit, that is, after the TOF camera module collects exposure data of a measured object, the exposure data is stored in the external storage unit, and the exposure data is called from the external storage unit when the exposure data needs to be called. And the external storage unit is utilized to transmit data, so that the internal storage space is not occupied, and the memory overhead is reduced.
In an implementation, the external memory unit is a double rate synchronous dynamic random access memory. Of course, the external memory unit may be implemented as other types of memories, such as static random access memory, which are not limiting of the application.
Further, in an embodiment of the present application, a process for acquiring an exposure value acquired by a TOF camera module includes: firstly, initial exposure data acquired by a TOF camera module are acquired, wherein the initial exposure data refer to data directly fetched from an external storage unit.
And then screening out effective data and ineffective data in the initial exposure data by a preset threshold value. Specifically, the exposure value of each pixel point in the exposure data is compared with the preset threshold value, a part with the exposure value smaller than the preset threshold value is determined to be effective data, and a part with the exposure value larger than or equal to the preset threshold value is determined to be ineffective data. In this embodiment, the effective data includes a low-exposure portion and a high-exposure portion, that is, exposure values of pixels of the low-exposure portion and the high-exposure portion are lower than the preset threshold. Accordingly, the invalid data includes an overexposed portion, that is, an exposure value of a pixel point of the overexposed portion is higher than or equal to the preset threshold.
It should be noted that, in other examples of the present application, the criteria of invalid data and valid data may be adjusted, for example, a portion with an exposure value higher than or equal to the preset threshold is set as valid data, and a portion with an exposure value lower than the preset threshold is set as invalid data, which is not limited by the present application.
That is, in this embodiment, acquiring the exposure value acquired by the TOF camera module includes: s111, acquiring initial exposure data acquired by a TOF camera module; and S112, analyzing effective data and invalid data in initial exposure data based on the preset threshold, wherein the exposure value of each pixel point in the effective data is lower than the preset threshold, and the exposure value of each pixel point in the invalid data is higher than or equal to the preset threshold.
It is worth mentioning that in other examples of the present application, the process of screening out valid data and invalid data from the initial exposure value may be performed at the front end, i.e., in this example, the exposure data stored in the external storage unit has been separated into valid data and invalid data, i.e., the overexposed portion in the exposure value has been identified.
In step S120, the I value and the Q value of the pixel point in the exposure data are determined. Specifically, in this embodiment, the process of determining the I value and the Q value of the pixel point in the exposure data includes: first, based on exposure values of all pixel points in the low exposure part, a first I value and a first Q value of the pixel points of the low exposure part are determined.
Specifically, as one of ordinary skill in the art will appreciate, the TOF camera module includes a laser projection unit and a photosensitive receiving unit. In the working process, the laser projection unit projects a modulation signal with a preset wavelength to a target object and reflects the modulation signal to the target object. Then, the photosensitive receiving unit receives the echo signal reflected by the target object. Finally, the gray value is calculated based on the measured exposure value of the echo signal.
More specifically, the period of the modulation signal is T, the TOF camera module performs 1 exposure at 1/4T intervals under a low exposure parameter, and obtains the exposure values of the echo signals at 4 different moments after performing 4 exposures. The exposure values of the echo signals received by the TOF camera module after 4 times of exposure are S (0), S (1), S (2) and S (3), the first I value of the pixel point of the low exposure portion can be obtained according to the following I value calculation formula, wherein the I value calculation formula is i=s (0) -S (2), and the first Q value of the pixel point of the low exposure portion can be obtained according to the following Q value calculation formula, wherein the Q value calculation formula is q=s (3) -S (1).
Next, a second I value and a second Q value of the pixel points of the high-exposure portion are determined based on the exposure values of the respective pixel points in the high-exposure portion. Specifically, first, the TOF camera module performs exposure 1 time at 1/4T intervals under a high exposure parameter, so as to obtain exposure values of the echo signals at 4 different moments. Then, the second I value and the second Q value of the pixel point of the high exposure part are obtained through the I value calculation formula and the Q value calculation formula.
As described above, when the light quantity of the echo signal received by the TOF camera module exceeds the range that can be represented by the threshold value preset by the exposure value, the exposure value of the echo signal measured by the TOF camera module is difficult to accurately represent the real light quantity of the echo signal. The exposure value of each pixel point in the overexposed part is higher than or equal to a preset threshold value, and accordingly, the exposure value of each pixel point in the overexposed part is difficult to accurately represent the real light quantity of the echo signal. Further, gradation data obtained by the I value and the Q value of the pixel point of the high exposure portion determined based on the exposure value of each pixel point in the overexposed portion hardly reflects the true gradation of the target object. When the light quantity of the received echo signal is lower than a preset threshold value, the exposure value of the echo signal measured by the TOF camera module can accurately represent the light quantity of the echo signal. The correlation between the low-exposure data and the overexposed data can be used to obtain the I value and the Q value corresponding to the overexposed value, and gray data is further determined based on the I value and the Q value corresponding to the overexposed value.
Then, a third I value and a third Q value of the pixel point of the overexposed portion are determined based on the exposure value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point of the low exposed portion corresponding to the pixel point of the overexposed portion.
Specifically, in this embodiment, determining the third I value and the third Q value of the pixel point of the overexposed portion based on the exposure parameter of the overexposed portion and the first I value and the first Q value of the pixel point of the underexposed portion corresponding to the pixel point of the overexposed portion includes: obtaining a third I value of the pixel point of the overexposed part according to the following formulaWherein I new represents the third I value, I l represents the first I value, the Exposure h (overexposure value) represents the Exposure value of the pixel point in the overexposed portion, and the Exposure l (low Exposure value) represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion; and obtaining a third Q value of the pixel point of the overexposed part by the following formulaWherein Q new represents the third Q value, Q l represents the first Q value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion.
The I value and the Q value corresponding to the overexposure value are obtained by utilizing the correlation between the low-exposure data and the overexposed data, so that the gray data is determined, the influence of overexposed light on the gray data in the gray data obtaining process can be effectively reduced, and the imaging quality of a gray image generated by the TOF imaging module is improved.
In summary, in this embodiment, the process of determining the I value and the Q value of the pixel point in the exposure value includes: s121, determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part; s122, determining a second I value and a second Q value of the pixel points of the high-exposure part based on the exposure values of the pixel points in the high-exposure part; and S123, determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part.
Optionally, in order to further improve the quality of the gray-scale image generated by the TOF image capturing module, filtering may be performed on the I value and the Q value of the pixel point in the exposure data.
In step S130, the I value and the Q value of the pixel point in the exposure value are filtered, respectively. Specifically, first, the I value and the Q value of the pixel in the exposure data are subjected to fast fourier transform, and the I value and the Q value of the pixel in the exposure data can be converted into corresponding frequency values through the fast fourier transform, so as to filter the I value and the Q value in a preset frequency range.
Then, for convenience of data processing, the fourier I-transform value and the fourier Q-transform value may be normalized to convert the fast fourier-transformed I-value and Q-value into a specific range. Specifically, a normalization processing manner may be selected according to actual situations, for example, the fourier I transform value is normalized by using a maximum fourier I transform value to obtain the normalized I transform value, and the fourier Q transform value is normalized by using a maximum fourier Q transform value to obtain the normalized Q transform value.
Optionally, the normalized I-transform value is obtained with a formula, wherein the formula is I new＝I1/Imax, wherein I new represents a normalized I-transform value, I 1 represents the fourier I-transform value, and I max represents a maximum fourier I-transform value; and obtaining the normalized Q transform value with the following formula: q new＝Q1/Qmax, wherein Q new represents a normalized Q transform value, Q 1 represents the fourier Q transform value, and Q max represents a maximum fourier Q transform value. It should be understood that the fourier transform values may be normalized in other ways, which is not limiting to the application.
And finally, filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value. Specifically, the I value of the pixel point in the exposure data corresponding to the unfiltered normalized I conversion value is the filtered I value, and the Q value of the pixel point in the exposure data corresponding to the unfiltered normalized Q conversion value is the filtered Q value. It should be noted that, according to the practical application, the first preset frequency range and the second preset frequency range may be set to the same range or may be set to different ranges, which is not limited by the present application.
That is, step S130, filtering the I value and the Q value of the pixel point in the exposure data, includes: s131, performing fast Fourier transform on the I value and the Q value of the pixel point in the exposure data respectively to generate a Fourier I transform value and a Fourier Q transform value; s132, respectively carrying out normalization processing on the Fourier I transformation value and the Fourier Q transformation value to obtain a normalized I transformation value and a normalized Q transformation value; and S133, filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value.
In step S140, gray scale data is determined based on the I value and Q value of the pixel point in the filtered exposure data to generate a gray scale image. Specifically, the gradation data is obtained with the following formula: g= |i+|q|, where i|represents an absolute value of an I value of a pixel in the filtered exposure data and q|represents an absolute value of a Q value of a pixel in the filtered exposure data.
In summary, the gray scale image generating method based on multiple exposures for the TOF camera module is illustrated, and the gray scale image generating method can effectively reduce the influence of overexposure on gray scale data in the gray scale data acquisition process, so as to improve the quality of the gray scale image generated by the TOF camera module, and can perform parallel processing on the data, thereby improving the data processing rate.
Second exemplary Gray image Generation method
It is worth mentioning that in other examples of the application the multi-exposure based gray data algorithm may be performed by a chip that performs data processing in a parallel manner. Specifically, a part of exposure data, such as a high exposure part and an overexposure part, acquired by the TOF camera module is firstly acquired, and an I value and a Q value of a pixel point in the part of exposure data are determined. And acquiring the other part of exposure data acquired by the TOF camera module in parallel with the data processing process, and determining the I value and the Q value of the pixel point in the other part of exposure data. Further, a third I value and a third Q value of the pixel point of the overexposed portion are determined based on the exposure parameter of the overexposed portion and the first I value and the first Q value of the pixel point of the underexposed portion corresponding to the pixel point of the overexposed portion.
That is, in this example, a multi-exposure-based gray scale image generation method for a TOF camera module includes: s610, acquiring high exposure data acquired by a TOF camera module under a second exposure parameter, wherein the high exposure data comprises a high exposure part and an overexposure part, the second exposure parameter is higher than the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value; s620, determining a second I value and a second Q value of the pixel points of the high-exposure part based on the exposure values of the pixel points in the high-exposure part; s630, acquiring a low exposure part acquired by the TOF camera module under a first exposure parameter, wherein the first exposure parameter is lower than the preset parameter value; s640, determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part; s650, determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part; s660, respectively filtering the I value and the Q value of the pixel point in the exposure data; and S670, determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image, as shown in FIG. 4.
It should be noted that the high exposure portion, the overexposure portion, and the low exposure portion of the exposure value acquired by the TOF camera module may be acquired from the external acquisition unit. The size of the data amount obtained at a time can be selected according to practical application, for example, 128×32bit and 256×32bit. Further, the processing of the data is performed while the data is acquired, that is, it is not necessary to wait for the complete data (for example, one line of data, one frame of data) to be acquired and then process the data. Also, a plurality of data processing processes may be performed in parallel, and data processing efficiency may be improved.
Specifically, in one specific example of the present application, step S610 and step S620, and step S630 and step S640 are performed in parallel. That is, in the process of acquiring the high-exposure portion and the low-exposure portion, the second I value and the second Q value of the pixel point of the high-exposure portion may be determined based on the exposure value of each pixel point in the high-exposure portion without waiting for the second I value and the second Q value to be calculated after all the high-exposure portion and the overexposed portion are acquired. Likewise, in the process of acquiring the low-exposure portion, the first I value and the first Q value of the pixel point of the low-exposure portion may be determined based on the exposure value of each pixel point in the low-exposure portion, without waiting for the first I value and the first Q value to be calculated after all the low-exposure portions are acquired.
In particular, step S640 and step S650 are performed in parallel, that is, the third I value and the third Q value are calculated without obtaining the first I value and the first Q value corresponding to all pixel points in the low-exposure portion. In other words, in determining the first I value and the first Q value, the third I value and the third Q value of the pixel point of the overexposed portion may be determined based on the exposure value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point of the low exposed portion corresponding to the pixel point of the overexposed portion.
In another specific example of the present application, step S610 and step S630, and step S620 and step S640 are performed in parallel. That is, the low-exposure portion may be acquired while the high-exposure portion and the overexposed portion are acquired, without waiting for the low-exposure portion to be acquired after the high-exposure portion and the overexposed portion are acquired.
Here, it is understood by those skilled in the art that the specific process of acquiring the exposure value acquired by the TOF camera module, determining the I value and the Q value of the pixel point in the exposure value, filtering the I value and the Q value of the pixel point in the exposure value, respectively, and acquiring the gray data is described in detail in the multi-exposure-based gray image generation method for the TOF camera module described above with reference to fig. 1 to 3, and thus, repetitive description thereof will be omitted.
In this example, the multi-exposure-based grayscale image generation method for a TOF camera module is through parallel chips, such as: an FPGA chip is executed. It should be understood that the gray scale image generating method based on multiple exposures for the TOF camera module may be performed by other parallel chips with parallel computing functions, such as ASIC chips, SOC chips.
Exemplary Gray image generating apparatus
According to another aspect of the application, there is also provided a gray scale image generating device based on multiple exposures for a TOF camera module.
As shown in fig. 5 to 7, a gray-scale image generating apparatus 100 for a TOF camera module according to an embodiment of the present application is illustrated. Specifically, the grayscale image generating device 100 includes: an exposure value acquisition unit 10 that acquires exposure data acquired by a TOF imaging module, the exposure data including a low-exposure portion, a high-exposure portion, and an overexposure portion, wherein a first exposure parameter of the low-exposure portion is lower than a preset parameter value, and a second exposure parameter of the high-exposure portion and the overexposure portion is higher than or equal to the preset parameter value, wherein an exposure value of each pixel point in the overexposed portion is higher than or equal to a preset threshold value; a data determining unit 20, configured to determine an I value and a Q value of a pixel point in the exposure value, where the I value and Q value determining unit 20 includes: a first subunit 21, configured to determine a first I value and a first Q value of a pixel point of the low-exposure portion based on an exposure value of each pixel point in the low-exposure portion; a second subunit 22, configured to determine a second I value and a second Q value of the pixel point of the high-exposure portion based on the exposure value of each pixel point in the high-exposure portion; and a third subunit 23, configured to determine a third I value and a third Q value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion; a filtering unit 30, configured to filter an I value and a Q value of a pixel point in the exposure data respectively; and a gray data processing unit 40 for determining gray data based on the I value and Q value of the pixel point in the filtered exposure data to generate a gray image.
Here, it will be understood by those skilled in the art that the specific functions and operations of the respective units and modules in the multi-exposure-based grayscale image generating apparatus 100 for a TOF camera module described above have been described in detail in the description of the multi-exposure-based grayscale image generating method for a TOF camera module described above with reference to fig. 1 to 4, and thus, repetitive descriptions thereof will be omitted.
As described above, the multi-exposure-based gray scale image generating apparatus 100 for a TOF camera module according to the embodiment of the application can be implemented in a TOF camera module. In one example, the grayscale image generating device 100 according to an embodiment of the present application may be integrated into a TOF camera module as one software module and/or hardware module. For example, the grayscale image generating device 100 may be a software module in the operating system of the TOF camera module, or may be an application developed for the TOF camera module; of course, the gray scale image generating apparatus 100 can be one of a plurality of hardware modules of the TOF camera module.
Alternatively, in another example, the grayscale image generating apparatus 100 and the TOF camera module may be separate devices, and the grayscale image generating apparatus 100 may be connected to the TOF camera module through a wired and/or wireless network and transmit interaction information according to a agreed data format.
Exemplary electronic device
According to another aspect of the present application, there is also provided an electronic device 80, as shown in fig. 8. The electronic device 80 includes: a memory 81 and a processor 82, in the memory 81 computer program instructions are stored which, when run by the processor 82, cause the processor 82 to perform a multi-exposure based grayscale image generation method for a TOF camera module as described above.
Here, it will be understood by those skilled in the art that the specific functions and operations of the processor 82 have been described in detail above with reference to the description of the multi-exposure-based gray image generation method for the TOF camera module of fig. 1 to 4, and thus, repetitive descriptions thereof will be omitted.
It will be appreciated by persons skilled in the art that the embodiments of the application described above and shown in the drawings are by way of example only and are not limiting. The objects of the present application have been fully and effectively achieved. The functional and structural principles of the present application have been shown and described in the examples and embodiments of the application may be modified or practiced without departing from the principles described.
Claims (13)
1. The gray scale image generating method based on multiple exposure for TOF camera module is characterized by comprising the following steps:
Acquiring exposure data acquired by a TOF camera module, wherein the exposure data comprises a low exposure part, a high exposure part and an overexposure part, a first exposure parameter of the low exposure part is lower than a preset parameter value, a second exposure parameter of the high exposure part and the overexposure part is higher than or equal to the preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value;
determining the I value and the Q value of the pixel point in the exposure data comprises the following steps:
Determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part;
determining a second I value and a second Q value of the pixel points of the high exposure part based on the exposure values of the pixel points in the high exposure part; and
Determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part;
Respectively filtering the I value and the Q value of the pixel point in the exposure data; and
And determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
2. The multi-exposure-based grayscale image generation method for a TOF camera module according to claim 1, wherein determining a third I value and a third Q value of a pixel point of said overexposed portion based on an exposure value of the pixel point in said overexposed portion and the first I value and the first Q value of a pixel point of said low exposed portion corresponding to the pixel point of said overexposed portion, comprises:
obtaining a third I value of the pixel point of the overexposed part according to the following formula Wherein I new represents the third I value, I l represents the first I value, exposure h represents the Exposure value of the pixel point in the overexposed part, and Exposure l represents the Exposure value of the pixel point in the low exposed part corresponding to the pixel point in the overexposed part; and
Obtaining a third Q value of the pixel point of the overexposed part according to the following formulaWherein Q new represents the third Q value, Q l represents the first Q value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion.
3. The multi-exposure-based grayscale image generation method for a TOF camera module according to claim 1, wherein filtering the I value and the Q value of a pixel point in the exposure data respectively includes:
Respectively performing fast Fourier transform on the I value and the Q value of the pixel point in the exposure data to generate a Fourier I transform value and a Fourier Q transform value;
respectively carrying out normalization processing on the Fourier I transformation value and the Fourier Q transformation value to obtain a normalized I transformation value and a normalized Q transformation value; and
Filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value.
4. The multi-exposure-based grayscale image generation method for a TOF camera module according to claim 1, wherein acquiring exposure data acquired by the TOF camera module comprises:
And acquiring exposure data acquired by the TOF camera module from an external storage unit.
5. The multi-exposure-based grayscale image generation method for a TOF camera module according to claim 4, wherein acquiring exposure data acquired by the TOF camera module comprises:
Acquiring initial exposure data acquired by a TOF camera module; and
Analyzing effective data and invalid data in initial exposure data based on the preset threshold, wherein the exposure value of each pixel point in the effective data is lower than the preset threshold, and the exposure value of each pixel point in the invalid data is higher than or equal to the preset threshold.
6. The multi-exposure-based grayscale image generation method for a TOF camera module according to claim 4, wherein said external storage unit is a double-rate synchronous dynamic random access memory.
7. The gray scale image generating method based on multiple exposure for TOF camera module is characterized by comprising the following steps:
Acquiring high exposure data acquired by a TOF camera module under a second exposure parameter, wherein the high exposure data comprises a high exposure part and an overexposure part, the second exposure parameter is higher than a preset parameter value, and the exposure value of each pixel point in the overexposure part is higher than or equal to a preset threshold value;
Determining a second I value and a second Q value of the pixel points of the high exposure part based on the exposure values of the pixel points in the high exposure part;
acquiring a low exposure part acquired by a TOF camera module under a first exposure parameter, wherein the first exposure parameter is lower than the preset parameter value;
Determining a first I value and a first Q value of the pixel points of the low exposure part based on the exposure values of the pixel points in the low exposure part;
determining a third I value and a third Q value of the pixel point of the overexposed part based on the exposure value of the pixel point of the overexposed part and the first I value and the first Q value of the pixel point of the low exposed part corresponding to the pixel point of the overexposed part;
Respectively filtering the I value and the Q value of the pixel point in the exposure data; and
And determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data to generate a gray image.
8. The multi-exposure-based grayscale image generating method for a TOF camera module of claim 7, wherein said multi-exposure-based grayscale image generating method for a TOF camera module is performed by parallel chips.
9. The multi-exposure-based grayscale image generating method for a TOF camera module according to claim 7, wherein determining a first I value and a first Q value of a pixel of said low-exposure portion based on a first exposure value of each pixel of said low-exposure portion and determining a third I value and a third Q value of a pixel of said overexposed portion based on an exposure value of a pixel of said overexposed portion and said first I value and said first Q value of a pixel of said low-exposure portion corresponding to a pixel of said overexposed portion are performed in parallel.
10. A multi-exposure-based gray scale image generating device for a TOF camera module, comprising:
An exposure data acquisition unit, configured to acquire exposure data acquired by a TOF camera module, where the exposure data includes a low exposure portion, a high exposure portion, and an overexposure portion, where a first exposure parameter of the low exposure portion is lower than a preset parameter value, and second exposure parameters of the high exposure portion and the overexposure portion are higher than or equal to the preset parameter value, and exposure values of pixel points in the overexposure portion are higher than or equal to a preset threshold value;
A data determining unit, configured to determine an I value and a Q value of a pixel point in the exposure data, where the I value and Q value determining unit includes:
A first subunit, configured to determine a first I value and a first Q value of a pixel point of the low exposure portion based on an exposure value of each pixel point in the low exposure portion;
a second subunit, configured to determine a second I value and a second Q value of the pixel point of the high-exposure portion based on the exposure value of each pixel point in the high-exposure portion; and
A third subunit, configured to determine a third I value and a third Q value of the pixel point in the overexposed portion and the first I value and the first Q value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion;
The filtering unit is used for filtering the I value and the Q value of the pixel point in the exposure data respectively; and
And the gray data processing unit is used for determining gray data based on the I value and the Q value of the pixel point in the filtered exposure data so as to generate a gray image.
11. The multi-exposure based grayscale image generating device for a TOF camera module of claim 10, wherein said third subunit is further configured to:
obtaining a third I value of the pixel point of the overexposed part according to the following formula Wherein I new represents the third I value, I l represents the first I value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion; and
Obtaining a third Q value of the pixel point of the overexposed part according to the following formulaWherein Q new represents the third Q value, Q l represents the first Q value, exposure h represents the Exposure value of the pixel point in the overexposed portion, and Exposure l represents the Exposure value of the pixel point in the low exposed portion corresponding to the pixel point in the overexposed portion.
12. The multi-exposure-based grayscale image generating device for a TOF camera module of claim 10, wherein said filtering unit is further configured to:
Respectively performing fast Fourier transform on the I value and the Q value of the pixel point in the exposure data to generate a Fourier I transform value and a Fourier Q transform value;
respectively carrying out normalization processing on the Fourier I transformation value and the Fourier Q transformation value to obtain a normalized I transformation value and a normalized Q transformation value; and
Filtering the normalized I conversion value in the first preset frequency range and the normalized Q conversion value in the second preset frequency range to obtain a filtered I value and a filtered Q value.
13. An electronic device, comprising:
A memory; and
A processor having stored in the memory computer program instructions which, when executed by the processor, cause the processor to perform the multi-exposure based grayscale image generation method for a TOF camera module of any one of claims 1 to 6 or the multi-exposure based grayscale image generation method for a TOF camera module of any one of claims 7 to 9.
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