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

Abstract

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

Description

A deep image processing method, system, device and storage medium

technical field

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

Background technique

With the development of 3D technology and unmanned driving technology, depth images play an increasingly important role. The color images obtained by ordinary cameras can only reflect the plane position information between objects, but cannot provide longitudinal depth information between objects, and cannot provide strong data support for map modeling, path planning and other technologies. The birth of low-cost 3D scanning devices such as Kinect depth cameras and time-of-flight (TOF) cameras has opened the door to new applications in different research fields such as computer vision, graphics, human-computer interaction, and virtual reality. Using the depth camera to obtain not only the color image information in the current scene, but also the depth image information between each object in the scene and the depth camera, the depth image records the three-dimensional relationship between the corresponding pixel in the color image and the depth camera Spatial distance, usually in millimeters.

Image depth refers to the number of bits used to store each pixel. In color images, image depth is used to measure the color resolution of images, and in depth images, image depth is used to represent specific distances. For example, 16 bits are usually used to record the information of the depth map, 2 to the 16th power, that is, the value between 0-65535, that is, the depth information can be recorded at a distance of 65535 mm from the depth camera, and some scenes with high precision requirements need to use 32 Bit data records depth information. In the process of storing and reading the depth image, the distance value of each pixel is usually compressed to the range of 0-255, and the depth image is converted into a grayscale image to achieve efficient storage and display. However, the compressed depth There will be a large lack of precision in the information, which does not meet the needs of further scientific research and application. For the new data carrying form of depth image, on the one hand, the data storage terminal must realize a smaller space occupation, and on the other hand, it must ensure that the data will not be affected after the second reading.

Contents of the invention

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

Get the depth image and divide it into multiple pixel blocks;

determining a reference pixel point in each of the pixel blocks;

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

Store information of each pixel block, reference pixel information and relative depth distance information.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

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

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

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

A calculation module configured to calculate the relative depth distance between other pixel points in each of the pixel blocks and the reference pixel point;

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

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

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, it also includes a reading module configured to:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

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

at least one processor; and

memory, the memory stores a computer program that can run on the processor, and the processor performs the following steps when executing the program:

Get the depth image and divide it into multiple pixel blocks;

determining a reference pixel point in each of the pixel blocks;

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

Store information of each pixel block, reference pixel information and relative depth distance information.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor Perform the following steps:

Get the depth image and divide it into multiple pixel blocks;

determining a reference pixel point in each of the pixel blocks;

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

Store information of each pixel block, reference pixel information and relative depth distance information.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

The present invention has one of the following beneficial technical effects: the scheme proposed by the present invention divides the depth image into blocks according to the characteristics of the distance represented by the data value in each pixel of the depth image, and combines the distance value with the feature of spatial continuity, and each block is represented by The reference distance occupying larger data bits and the relative distance occupying smaller data bits are represented, thereby reducing the data bits occupied by the entire depth image and reducing the occupied storage space.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and those skilled in the art can obtain other embodiments according to these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a depth image processing method provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a depth image processing process provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a depth image processing system provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a computer device provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a computer-readable storage medium provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are to distinguish two entities with the same name but different parameters or parameters that are not the same, see "first" and "second" It is only for the convenience of expression, and should not be construed as a limitation on the embodiments of the present invention, which will not be described one by one in the subsequent embodiments.

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

S1, acquiring a depth image and dividing it into multiple pixel blocks;

S2. Determine a reference pixel point in each pixel block;

S3. Calculate the relative depth distance between other pixel points in each pixel block and the reference pixel point;

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

The solution proposed by the invention divides the depth image into blocks according to the characteristics of the distance represented by the data value in each pixel of the depth image, and combines the characteristics of the distance value with spatial continuity. The relative distance representation of smaller data bits reduces the data bits occupied by the entire depth image and reduces the occupied storage space.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

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

Each block is selected as a reference in turn, and the pixel at a fixed position in each pixel block is used as the reference pixel. Taking the upper left pixel as an example, the depth distance value stored in the reference pixel of the current block is used as the reference distance of the current block .

Calculate the difference between the depth distance value stored in the remaining pixels in each block and the reference distance of the current block, take the reference distance as the subtrahend, and the result as the relative distance of the corresponding pixel. The reference distance data of each reference pixel point is large and needs to be preserved completely, and needs to occupy the original large data bit representation, such as 16-bit data. The relative distances of other pixels in each block have a small range of values, and can be accurately expressed using relatively small data bits, such as 8-bit or 10-bit data.

Store image block size information, reference distance information and relative distance information of each block. In this way, storing the reference distance of the current block and the relative distance of the pixel points can realize the storage of the depth image block, store the blocks divided into the depth image in turn, and attach the size information of the divided block to the data header to realize the entire image. Storage of depth images.

In the stage of reading the depth image data, first read the block size information divided by the current depth image, and then calculate and analyze the original data of the current block according to the reference distance and relative distance of each block read, and sequentially analyze each Blocks are analyzed to complete the reading of the current entire depth image data.

The scheme proposed by the present invention first divides the depth image into the set block size, selects the distance value of the fixed position in the block as the reference distance of the current block, and calculates the position difference between the rest of the pixels in the block and the reference distance of the current block as the relative distance. The distance, the relative distance is often much smaller than the original distance, and can be represented by fewer data bits, so as to achieve the purpose of data compression and space saving. By analogy, the entire depth image is traversed, and the reference distance value and relative distance value of each block are stored instead of storing the entire depth image, so as to achieve the purpose of reducing the data storage space while ensuring the data accuracy remains unchanged.

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

An acquisition module 401 configured to acquire a depth image and divide it into multiple pixel blocks;

A determination module 402, configured to determine a reference pixel point in each of the pixel blocks;

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

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

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

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, it also includes a reading module configured to:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

The scheme proposed by the present invention first divides the depth image into the set block size, selects the distance value of the fixed position in the block as the reference distance of the current block, and calculates the position difference between the rest of the pixels in the block and the reference distance of the current block as the relative distance. The distance, the relative distance is often much smaller than the original distance, and can be represented by fewer data bits, so as to achieve the purpose of data compression and space saving. By analogy, the entire depth image is traversed, and the reference distance value and relative distance value of each block are stored instead of storing the entire depth image, so as to achieve the purpose of reducing the data storage space while ensuring the data accuracy remains unchanged.

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

at least one processor 520; and

Memory 510, the memory 510 stores a computer program 511 that can run on the processor, and the processor 520 performs the following steps when executing the program:

S1, acquiring a depth image and dividing it into multiple pixel blocks;

S2. Determine a reference pixel point in each pixel block;

S3. Calculate the relative depth distance between other pixel points in each pixel block and the reference pixel point;

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

The solution proposed by the invention divides the depth image into blocks according to the characteristics of the distance represented by the data value in each pixel of the depth image, and combines the characteristics of the distance value with spatial continuity. The relative distance representation of smaller data bits reduces the data bits occupied by the entire depth image and reduces the occupied storage space.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

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

Each block is selected as a reference in turn, and the pixel at a fixed position in each pixel block is used as the reference pixel. Taking the upper left pixel as an example, the depth distance value stored in the reference pixel of the current block is used as the reference distance of the current block .

Calculate the difference between the depth distance value stored in the remaining pixels in each block and the reference distance of the current block, take the reference distance as the subtrahend, and the result as the relative distance of the corresponding pixel. The reference distance data of each reference pixel point is large and needs to be preserved completely, and needs to occupy the original large data bit representation, such as 16-bit data. The relative distances of other pixels in each block have a small range of values, and can be accurately expressed using relatively small data bits, such as 8-bit or 10-bit data.

Store image block size information, reference distance information and relative distance information of each block. In this way, storing the reference distance of the current block and the relative distance of the pixel points can realize the storage of the depth image block, store the blocks divided into the depth image in turn, and attach the size information of the divided block to the data header to realize the entire image. Storage of depth images.

In the stage of reading the depth image data, first read the block size information divided by the current depth image, and then calculate and analyze the original data of the current block according to the reference distance and relative distance of each block read, and sequentially analyze each Blocks are analyzed to complete the reading of the current entire depth image data.

The scheme proposed by the present invention first divides the depth image into the set block size, selects the distance value of the fixed position in the block as the reference distance of the current block, and calculates the position difference between the rest of the pixels in the block and the reference distance of the current block as the relative distance. The distance, the relative distance is often much smaller than the original distance, and can be represented by fewer data bits, so as to achieve the purpose of data compression and space saving. By analogy, the entire depth image is traversed, and the reference distance value and relative distance value of each block are stored instead of storing the entire depth image, so as to achieve the purpose of reducing the data storage space while ensuring the data accuracy remains unchanged.

Based on the same inventive concept, according to another aspect of the present invention, as shown in FIG. 5 , the embodiment of the present invention also provides a computer-readable storage medium 601, the computer-readable storage medium 601 stores a computer program 610, and the computer program When 610 is executed by the processor, the following steps are performed:

S1, acquiring a depth image and dividing it into multiple pixel blocks;

S2. Determine a reference pixel point in each pixel block;

S3. Calculate the relative depth distance between other pixel points in each pixel block and the reference pixel point;

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

The solution proposed by the invention divides the depth image into blocks according to the characteristics of the distance represented by the data value in each pixel of the depth image, and combines the characteristics of the distance value with spatial continuity. The relative distance representation of smaller data bits reduces the data bits occupied by the entire depth image and reduces the occupied storage space.

In some embodiments, determining the reference pixel in each pixel block further includes:

A pixel point at a preset fixed position in each pixel block is used as a reference pixel point, and a depth distance value stored in the reference pixel point is used as a reference distance.

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

Calculate the difference between the depth distance value stored in the remaining pixels in each pixel block and the reference distance stored in the corresponding reference pixel point, wherein the reference distance stored in the corresponding reference pixel point is the subtrahend, and the result is obtained as The relative depth distance of the corresponding pixel.

In some embodiments, also include:

In response to receiving the instruction to read the depth image, read the information of the pixel blocks divided by the current depth image, the information of the reference pixel of each pixel block and the relative depth distance information;

According to the reference pixel information of each pixel block and the relative depth distance information, the original data of the pixel block is calculated and analyzed, and then the reading of the entire depth image data is completed.

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

Each block is selected as a reference in turn, and the pixel at a fixed position in each pixel block is used as the reference pixel. Taking the upper left pixel as an example, the depth distance value stored in the reference pixel of the current block is used as the reference distance of the current block .

Calculate the difference between the depth distance value stored in the remaining pixels in each block and the reference distance of the current block, take the reference distance as the subtrahend, and the result as the relative distance of the corresponding pixel. The reference distance data of each reference pixel point is large and needs to be preserved completely, and needs to occupy the original large data bit representation, such as 16-bit data. The relative distances of other pixels in each block have a small range of values, and can be accurately expressed using relatively small data bits, such as 8-bit or 10-bit data.

Store image block size information, reference distance information and relative distance information of each block. In this way, storing the reference distance of the current block and the relative distance of the pixel points can realize the storage of the depth image block, store the blocks divided into the depth image in turn, and attach the size information of the divided block to the data header to realize the whole image Storage of depth images.

In the stage of reading the depth image data, first read the block size information divided by the current depth image, and then calculate and analyze the original data of the current block according to the reference distance and relative distance of each block read, and sequentially analyze each Blocks are analyzed to complete the reading of the current entire depth image data.

The scheme proposed by the present invention first divides the depth image into the set block size, selects the distance value of the fixed position in the block as the reference distance of the current block, and calculates the position difference between the rest of the pixels in the block and the reference distance of the current block as the relative distance. The distance, the relative distance is often much smaller than the original distance, and can be represented by fewer data bits, so as to achieve the purpose of data compression and space saving. By analogy, the entire depth image is traversed, and the reference distance value and relative distance value of each block are stored instead of storing the entire depth image, so as to achieve the purpose of reducing the data storage space while ensuring the data accuracy remains unchanged.

Finally, it should be noted that those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the embodiments of the above-mentioned methods.

In addition, it should be appreciated that a computer-readable storage medium (eg, memory) herein can be either volatile memory or nonvolatile memory, or can include both volatile memory and nonvolatile memory.

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

The above are the exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications can be made without departing from the scope of the disclosed embodiments of the present invention defined in the claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in an individual form, they may also be understood as a plurality unless explicitly limited to a singular number.

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

The serial numbers of the embodiments disclosed in the above-mentioned embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above-mentioned embodiments can be completed by hardware, or can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is exemplary only, and is not intended to imply that the scope (including claims) disclosed by the embodiments of the present invention is limited to these examples; under the idea of the embodiments of the present invention , the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the above embodiments of the present invention, which are not provided in details for the sake of brevity. Therefore, within the spirit and principle of the embodiments of the present invention, any omissions, modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the embodiments of the present invention.

Claims (10)

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

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

determining a reference pixel point in each pixel block;

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

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

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

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

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

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

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

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

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

5. A depth image processing system, comprising:

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

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

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

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

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

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

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

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

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

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

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

9. A computer device, comprising:

at least one processor; and

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

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

Images