CN110012236A - A kind of information processing method, device, equipment and computer storage medium - Google Patents
A kind of information processing method, device, equipment and computer storage medium Download PDFInfo
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- CN110012236A CN110012236A CN201910252656.5A CN201910252656A CN110012236A CN 110012236 A CN110012236 A CN 110012236A CN 201910252656 A CN201910252656 A CN 201910252656A CN 110012236 A CN110012236 A CN 110012236A
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- 230000010365 information processing Effects 0.000 title claims abstract description 49
- 238000003672 processing method Methods 0.000 title claims abstract description 17
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 claims description 25
- 230000015654 memory Effects 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 12
- 238000001467 acupuncture Methods 0.000 claims description 4
- 210000004761 scalp Anatomy 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 31
- 210000003128 head Anatomy 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 230000007613 environmental effect Effects 0.000 description 9
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
- H04M1/026—Details of the structure or mounting of specific components
- H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The embodiment of the invention discloses a kind of information processing methods, comprising: obtains adjustment instruction；The adjustment instruction is responded, the relativeness between at least two cameras is adjusted；At least two camera by adjusting after acquires the acquisition image of the target object for target object；Wherein, at least two camera adjusted is higher than at least two cameras before adjustment for target object acquisition image collected for the clarity of target object acquisition image collected.The embodiment of the present invention constantly also discloses a kind of information processing unit, equipment and computer storage medium.
Description
Technical field
The present invention relates to information technology field more particularly to a kind of information processing method, device, equipment and computer storages
Medium.
Background technique
With the rapid development of electronic technology, the terminal with camera function is also more and more general in people's daily life
And.In order to meet higher demand of taking pictures, current terminal occurs carrying the scheme of more than two cameras.In practical application
In, object is shot to target come apish eyes by two cameras and carries out vision positioning, realizes and object is shot to target
3 D stereo modeling.
However, the angle and distance between binocular camera all immobilizes in current binocular visual positioning technology
, the dynamic range of binocular camera is too small；When shooting short distance or remote target object, binocular camera can not
It is adjusted according to the distance that target shoots object, therefore, binocular camera not can guarantee target subject in the prior art
The clarity of the imaging of body.
Summary of the invention
In order to solve the above technical problems, an embodiment of the present invention is intended to provide a kind of information processing method, device, equipment and meters
Calculation machine storage medium.
The technical scheme of the present invention is realized as follows:
In a first aspect, providing a kind of information processing method, which comprises
Obtain adjustment instruction；
The adjustment instruction is responded, the relativeness between at least two cameras is adjusted；
At least two camera by adjusting after acquires the acquisition image of the target object for target object；
Wherein, before at least two camera adjusted is higher than adjustment for the clarity of target object acquisition image collected
At least two cameras be directed to target object acquisition image collected.
Second aspect, provides a kind of information processing unit, and described device includes:
Acquiring unit, for obtaining adjustment instruction；
Adjustment unit adjusts the relativeness between at least two cameras for responding the adjustment instruction；
Processing unit acquires the object for target object at least two camera by adjusting after
The acquisition image of body；Wherein, at least two camera adjusted is for the clear of target object acquisition image collected
Clear degree is higher than at least two cameras before adjustment and is directed to target object acquisition image collected.
The third aspect, provides a kind of information processing equipment, and the equipment includes: processor and is configured to store and can locate
The memory of the computer program run on reason device,
Wherein, when the processor is configured to run the computer program, information processing side described in first aspect is executed
The step of method.
Fourth aspect provides a kind of computer readable storage medium, which is characterized in that the computer readable storage medium
In be stored with computer executable instructions, which is configured to execute at the information that above-mentioned first aspect provides
Reason method
Information processing method, electronic equipment provided by the embodiment of the present invention and computer storage medium, being capable of basis
Adjustment instruction adjusts the relativeness between at least two cameras；Target is directed to based at least two camera adjusted
Object carries out Image Acquisition；Also, at least two camera adjusted is directed to target object acquisition image collected
Clarity be higher than adjustment before at least two cameras be directed to target object acquisition image collected.That is,
Method provided by the embodiment of the present invention can be adjusted the relativeness of multiple cameras, and using adjusted more
The acquisition image clarity with higher that a camera is acquired；In this way, increasing the dynamic model of binocular camera
It encloses, effectively improves the clarity of target object imaging.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for information processing method that the embodiment of the present invention provides；
Fig. 2 is a kind of vision positioning schematic illustration that the embodiment of the present invention provides；
Fig. 3 is the flow diagram for another information processing method that the embodiment of the present invention provides；
Fig. 4 is a kind of structural schematic diagram for information processing unit that the embodiment of the present invention provides；
Fig. 5 is a kind of hardware structural diagram for information processing equipment that the embodiment of the present invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
The embodiment of the present invention provides a kind of information processing method, shown referring to Fig.1, method includes the following steps:
Step 101 obtains adjustment instruction；
Step 102, response adjustment instruction, adjust the relativeness between at least two cameras；
Step 103, at least two cameras by adjusting after acquire the acquisition of the target object for target object
Image.
Wherein, at least two camera adjusted is high for the clarity of target object acquisition image collected
At least two cameras before adjustment are directed to target object acquisition image collected.
Here, the executing subject of step 101 to step 103 can be the processor of information processing equipment.At the information
Reason equipment can be any type of electronic equipment at least two cameras, and the electronic equipment includes but is not limited to intelligence
Can mobile phone, tablet computer, DV, net book, personal digital assistant (Personal Digital Assistant,
PDA) etc..Here, information processing equipment can carry out binocular visual positioning by least two camera, obtain target
Object dimensional stereo-picture.In the present embodiment, at least two cameras for including in information processing equipment can be located at and information
On the multiaxis platform of the mainboard connection of processing equipment, during multiaxis platform can be realized horizontal sliding, pitching rotation, roll rotate
It is one or more, that is to say, that at least two cameras shooting angle and position can be adjusted flexibly in information processing equipment.
In other embodiments of the invention, the adjustment instruction, which can be, is directed to by user based on what shooting environmental triggered
The adjustment instruction of at least two camera is also possible to information processing equipment based on shooting environmental automatic trigger for extremely
The adjustment instruction of few two cameras.Wherein, shooting environmental may include plane where target object and at least two cameras
Range information, location information of the target object in display screen of finding a view, plane where target object and at least two cameras
Angle information etc. between the line and camera shooting head plane at center.
In scheme provided in this embodiment, the relativeness between at least two cameras refers at least two camera shooting
The distance between head, or/and, the angle between at least two cameras and middle line.Here, middle line is at least two described in span
Set of the camera apart from identical point.
Here, the adjusting parameter at least two cameras, the adjusting parameter are included at least in the adjustment instruction
It can be the distance between at least two camera size, or/and, the angle between at least two cameras and middle line is big
It is small.In the present embodiment, above-mentioned adjusting parameter can be determined based on the shooting environmental around at least two cameras.
In other embodiments of the invention, the acquisition image of the target object can be RGB depth map (RGB
Depth Map, RGB-D) image, that is to say, that RGB-D image refers to RGB image including depth information.The acquisition image
Clarity include obtain acquisition image in the readability of detail textures and image boundary, and/or acquisition image correspondence
Depth image in the description of each pixel readability.
Specifically, at least two camera by adjusting after adopting for target object acquisition target object
Collect image, comprising:
Image Acquisition is carried out for target object based at least two camera adjusted, respectively obtains target object
At least two flat images；
At least based at least two flat images of the target object, at least one pixel in the target object is determined
The depth information and Pixel Information of point, obtain the acquisition image of the target object.
Here, information processing equipment respectively each camera at least two cameras by adjusting after to object
Body is acquired, and obtains the flat image of each camera shooting, i.e. RGB image；And comprehensive at least two flat image,
Obtain the Pixel Information of each pixel；Wherein, Pixel Information includes the location information and color value information of pixel.Into one
Step, in conjunction at least two obtained flat images, using every in available at least two flat image of similar triangle theory
The distance between plane, i.e., the depth information of each pixel where a pixel and at least two cameras.
In the other embodiments of invention, information processing equipment is also based at least two camera adjusted and is directed to
The target object acquisition image collected carries out points cloud processing, to form the three dimensional point cloud of the target object.Tool
Body, information processing equipment can establish object according to the Pixel Information and depth information of each pixel in acquisition image
The three dimensional point cloud of body.
Under normal circumstances, the shooting environmental around at least two cameras can largely influence camera imaging
Clarity, here by shooting environmental be the distance between at least two cameras and target object for be illustrated: work as mesh
When at least two cameras described in mark object distance are close, since the position of each camera is different, pass through at least two camera shootings
Between at least two flat images that head obtains widely different (position difference of same pixel point is very big), by described at least two
The position of the corresponding each pixel of target object can not be accurately positioned in flat image after synthesis is handled, so as to cause acquisition
Detail textures and blur margin are clear in image；And when target object where the camera plane farther out when, each camera is adopted
About the same between the flat image of collection, the parallax that can not be formed based on multiple images recovers target from multiple two-dimensional surfaces
The depth information of object describes unintelligible so as to cause the depth information for acquiring part pixel in image.
Based on above-mentioned the problem of the imaging is not clear as caused by shooting environmental, the present embodiment is by adjusting at least two camera shootings
The angle of the distance between head or/and at least two cameras and middle line solves.For example, in the object of shooting short distance
When body, the diminution appropriate of the angle of the distance between at least two cameras or/and at least two cameras and middle line subtracts
The otherness of the plane picture of small each camera shooting, so just improves the clarity of image imaging；Similarly, remote in shooting
It is when the target object of distance, the angle of the distance between at least two cameras or/and at least two cameras and middle line is suitable
When amplification, increase the otherness of the plane picture of each camera shooting, improve the clarity of image imaging.
In conclusion the relevant information of the available shooting environmental of information processing equipment, takes the photograph to determine at least two
As the adjusting parameter of head.In this way, the angle of the distance of at least two camera adjusted or/and at least two camera shootings and middle line
Degree more can adapt to the demand of shooting environmental, and therefore, at least two camera adjusted is acquired for the target object
Acquisition image clarity be higher than adjustment before at least two cameras be directed to target object acquisition image collected.
Information processing method provided by the embodiment of the present invention can adjust at least two camera shootings according to adjustment instruction
Relativeness between head；Image Acquisition is carried out for target object based at least two camera adjusted；Also, it adjusts
At least two cameras afterwards are higher than at least two before adjustment for the clarity of target object acquisition image collected
A camera is directed to target object acquisition image collected.That is, method energy provided by the embodiment of the present invention
Enough acquisition figures that the relativeness of multiple cameras is adjusted, and is acquired by adjusting rear multiple cameras
As clarity with higher；In this way, increasing the dynamic range of binocular camera, the clear of target object imaging is effectively improved
Degree.
Based on previous embodiment, the embodiment of the present invention provides a kind of information processing method, method includes the following steps:
Step 201 obtains adjustment instruction；
Step 202, response adjustment instruction, adjust the relativeness between at least two cameras；
Step 203, at least two cameras by adjusting after acquire the acquisition of the target object for target object
Image.
Wherein, at least two camera adjusted is high for the clarity of target object acquisition image collected
At least two cameras before adjustment are directed to target object acquisition image collected.
In other embodiments of the invention, at least two camera by adjusting after is directed to target object
Acquire the acquisition image of target object, comprising:
Image Acquisition is carried out for target object based at least two camera adjusted, respectively obtains target object
At least two flat images；
At least based at least two flat images of the target object, at least one pixel in the target object is determined
The depth information and Pixel Information of point, obtain the acquisition image of the target object.
Here, information processing equipment respectively each camera at least two cameras by adjusting after to object
Body is acquired, and obtains the flat image of each camera shooting, i.e. RGB image；And comprehensive at least two flat image,
Obtain the Pixel Information of each pixel；Wherein, Pixel Information includes the location information and color value information of pixel.Into one
Step, in conjunction at least two obtained flat images, using every in available at least two flat image of similar triangle theory
The distance between plane, i.e., the depth information of each pixel where a pixel and at least two cameras.
In the following, the depth for obtaining each pixel in the flat image based at least two flat images is discussed in detail
Information.
Here, it is illustrated by taking two cameras as an example.In the present embodiment, information processing equipment can be based on Fig. 2 institute
The vision positioning schematic illustration shown determines each pixel depth information.It specifically, include left camera Ol in Fig. 2, it is right
Camera Or, target object P, left camera imaging face 201 (practical is rectangle), (practical is square in right camera imaging face 202
Shape), the left imaging point Pl that target object P is formed on left camera imaging face 201, target object P is in right camera imaging face
The right imaging point Pr formed on 202, left camera optical center (are located in the left optical center Fl that the projection of left camera imaging face 201 is formed
Left imaging surface center), right camera optical center (is located in imaging surface in the right optical center Fr that the projection of right camera imaging face 201 is formed
The heart), target object P is PB in the subpoint of plane where the camera of left and right.
In schematic diagram shown in Fig. 2, the connecting line between two cameras is known as baseline, and distance is b, referred to as baseline
Away from；The distance that left camera and right camera arrive corresponding imaging surface respectively is focal length f.Here, in left camera imaging
Two-dimensional coordinate system u, v are established in the center in face 201 and right camera imaging face 202；Wherein, Pl is in left camera imaging face 201
Two-dimensional coordinate is (U1, V1)；Two-dimensional coordinate of the Pr in right camera imaging face 202 is (U2, V2).It is original with left camera center
Point establishes three-dimensional system of coordinate x, y, z；Assuming that the coordinate in three-dimensional system of coordinate of target object is (X, Y, Z).
From figure 2 it can be seen that triangle<P, PB, Ol>and triangle<Ol, Fl, Pl>similar, then it is available as follows
Proportionate relationship described in formula:
Here, the length of line segment P PB is the depth information Z of target object, and the length of line segment Ol Fl is focal length f, line segment
The length of Fl Pl is the coordinate U1 of left imaging point Pl, and the length of line segment PB Ol is the abscissa X of target object.It to sum up, can be with
It obtains,
Similarly, by triangle correspondence theorem, following relationship can be obtained:
With,
Wherein, alternate position spike of the target object P in left imaging surface and right imaging surface are as follows:
Based on aforementioned proportion relationship, the coordinate (X, Y, Z) of target object P in space can be restored.
In practical applications, when remoter at a distance from plane where target object at least two cameras, each camera shooting
The alternate position spike d between image that head obtains is with regard to smaller, then the depth information of obtained target object will be distorted.By adjusting
The angle of the distance between at least two cameras or/and at least two cameras and middle line, i.e. adjustment baseline distance b, increase phase
With the alternate position spike d put, so as to accurately obtain the depth information of target object.Therefore, it is taken the photograph using adjusted at least two
As the clarity for the acquisition image that head acquires target object, target object is acquired greater than at least two cameras before adjustment
Acquisition image clarity.
In the other embodiments of invention, information processing equipment is also based at least two camera adjusted and is directed to
The target object acquisition image collected carries out points cloud processing, to form the three dimensional point cloud of the target object.Tool
Body, information processing equipment can establish object according to the Pixel Information and depth information of each pixel in acquisition image
The three dimensional point cloud of body.
It should be noted that in the present embodiment with the explanation of same steps in other embodiments and identical content, Ke Yican
According to the description in other embodiments, details are not described herein again.
Method provided by the embodiment of the present invention can be adjusted the relativeness of multiple cameras, and use tune
Multiple cameras carry out Image Acquisition after whole, the accurate depth information of target object can be obtained, in this way, improving acquisition image
Clarity.
Based on previous embodiment, the embodiment of the present invention provides a kind of information processing method, as shown in figure 3, this method packet
Include following steps:
Step 301 determines target object；
Step 302 obtains at least two cameras place plane at a distance from target object；
Step 303 generates adjustment instruction based on the distance, and adjustment instruction is used to indicate adjustment at least two camera shooting
Relativeness between head；
Step 304 obtains adjustment instruction；
Step 305, response adjustment instruction, adjust the relativeness between at least two cameras；
Step 306, at least two cameras by adjusting after acquire the acquisition of the target object for target object
Image.
Wherein, at least two camera adjusted is high for the clarity of target object acquisition image collected
At least two cameras before adjustment are directed to target object acquisition image collected.
Here, information processing equipment can be the selection operation based on user to determine target object.Specifically, Yong Huke
The object of display is clicked or be selected in display screen of finding a view, information processing equipment is using the object chosen as object
Body.
Further, after choosing target object, information processing equipment can be automatically activated range sensor, by away from
At least two cameras place plane is obtained at a distance from target object from sensor.Here, information processing equipment is according at least
Plane where two cameras refers at a distance from target object to generate the adjustment of at least two camera relativeness of adjustment
It enables.Here, the relativeness between at least two cameras refers to the distance between described at least two camera, or/and, until
Few two angles between camera and middle line.Here, middle line is at least two cameras described in span apart from identical point
Set.
In other embodiments of the invention, the adjustment at least two cameras is included at least in the adjustment instruction
Parameter, the adjusting parameter can be the distance between at least two camera size, or/and, at least two cameras
Angular dimension between middle line.Here, adjusting parameter can be according to plane where at least two cameras and target object
Distance determines.
Specifically, information processing equipment can carry out the relativeness between at least two cameras according to following principle
Adjustment:
Target object is closer apart from plane where at least two camera, between at least two camera away from
From smaller；
Target object is remoter apart from plane where at least two camera, between at least two camera away from
From bigger；
Or/and
Target object is closer apart from plane where at least two camera, at least two camera and middle line it
Between angle it is smaller；
Target object is remoter apart from plane where at least two camera, at least two camera and middle line it
Between angle it is bigger.
In other embodiments of the invention, information processing equipment can store target object and at least two cameras institute
Mapping table in the distance of plane, with adjusting parameter.The plane where getting target object and at least two cameras
Distance, search above-mentioned mapping table, obtain corresponding adjusting parameter.
Here, the distance between at least two cameras and target object can be very to influencing camera imaging in degree
Clarity, this is because when target object is close apart from least two camera, due to the position of each camera
Difference, the widely different (alternate position spike of same pixel point between at least two flat images obtained by least two cameras
It is different very big), the corresponding each picture of target object can not be accurately positioned at least two flat image after synthesis is handled
The position of vegetarian refreshments, it is clear so as to cause detail textures in acquisition image and blur margin；And when target object is where camera
Plane farther out when, it is about the same between the flat image of each camera acquisition, can not based on the parallax that multiple images are formed from
The depth information of target object is recovered in multiple two-dimensional surfaces, so as to cause the depth information of part pixel in acquisition image
It describes unintelligible.
And by adjusting the distance between at least two cameras or/and the angle of at least two cameras and middle line, i.e.,
The baseline distance b between camera is adjusted, to adjust the clarity of camera imaging.For example, in the target object of shooting short distance
When, the diminution appropriate of the angle of the distance between at least two cameras or/and at least two cameras and middle line reduces
The otherness of the plane picture of each camera shooting, so just improves the clarity of image imaging；Similarly, in shooting long distance
From target object when, the angle of the distance between at least two cameras or/and at least two cameras and middle line is appropriate
Amplification, increase the otherness of the plane picture of each camera shooting, improve the clarity of image imaging.
In conclusion information processing equipment can image at a distance from head plane according to target object and described at least two,
To determine the adjusting parameter at least two cameras.In this way, the distance of at least two camera adjusted, or/and extremely
The angle of few two camera shootings and middle line can with matched at a distance from target object, therefore, adjusted at least two image scalp acupuncture
The clarity of acquisition image collected to the target object is higher than at least two cameras before adjustment and is directed to the target
Object acquisition image collected.
It should be noted that in the present embodiment with the explanation of same steps in other embodiments and identical content, Ke Yican
According to the description in other embodiments, details are not described herein again.
Information processing method provided by the embodiment of the present invention can adjust at least two camera shootings according to adjustment instruction
Relativeness between head；Image Acquisition is carried out for target object based at least two camera adjusted；Also, it adjusts
At least two cameras afterwards are higher than at least two before adjustment for the clarity of target object acquisition image collected
A camera is directed to target object acquisition image collected.That is, method energy provided by the embodiment of the present invention
It is enough that the relativeness of multiple cameras is adjusted, had using the acquisition image that cameras multiple after adjustment are acquired
There is higher clarity；In this way, increasing the dynamic range of binocular camera, the clarity of target object imaging is effectively improved.
Based on previous embodiment, the embodiment of the invention provides a kind of information processing units, as shown in figure 4, described device
It include: acquiring unit 41, for obtaining adjustment instruction；
Adjustment unit 42 adjusts the relativeness between at least two cameras for responding the adjustment instruction；
Processing unit 43 acquires the target for target object at least two camera by adjusting after
The acquisition image of object；Wherein, at least two camera adjusted is for target object acquisition image collected
Clarity is higher than at least two cameras before adjustment and is directed to target object acquisition image collected.
In the other embodiments of invention, the processing unit 43 is specifically used for based at least two camera shooting adjusted
Scalp acupuncture carries out Image Acquisition to target object, respectively obtains at least two flat images of target object；At least it is based on the mesh
At least two flat images for marking object determine the depth information of at least one pixel and pixel letter in the target object
Breath, obtains the acquisition image of the target object.
In the other embodiments of invention, the processing unit 43 is taken the photograph also particularly useful for based on adjusted at least two
As scalp acupuncture acquisition image progress points cloud processing collected to the target object, to form the three-dimensional point cloud of the target object
Data.
In the other embodiments of invention, the relativeness is the distance between described at least two camera, or/
With angle of the relativeness between at least two camera and middle line.
In the other embodiments of invention, target object is closer apart from plane where at least two camera, described
The distance between at least two cameras are smaller；
Target object is remoter apart from plane where at least two camera, between at least two camera away from
From bigger；
Or/and
Target object is closer apart from plane where at least two camera, at least two camera and middle line it
Between angle it is smaller；
Target object is remoter apart from plane where at least two camera, at least two camera and middle line it
Between angle it is bigger.
In the other embodiments of invention, the processing unit 43 is also used to: determining target object；Obtain described at least two
Plane is at a distance from the target object where a camera；The adjustment instruction is generated based on the distance, the adjustment refers to
Enable the relativeness for being used to indicate and adjusting between at least two camera.
Information processing unit provided by the embodiment of the present invention can adjust at least two camera shootings according to adjustment instruction
Relativeness between head；Image Acquisition is carried out for target object based at least two camera adjusted；Also, it adjusts
At least two cameras afterwards are higher than at least two before adjustment for the clarity of target object acquisition image collected
A camera is directed to target object acquisition image collected.That is, method energy provided by the embodiment of the present invention
It is enough that the acquisition image tool being acquired by adjusting rear multiple cameras is adjusted to the relativeness of multiple cameras
There is higher clarity；In this way, increasing the dynamic range of binocular camera, the clarity of target object imaging is effectively improved.
Based on previous embodiment, the embodiment of the present invention provides a kind of information processing equipment, which can be with
In a kind of information processing method provided applied to the corresponding embodiment of Fig. 1 or Fig. 3, referring to Figure 5, the information processing equipment
5 may include: processor 51, memory 52 and communication bus 53；
Communication bus 53 is for realizing the communication connection between processor 51 and memory 52；
Processor 51 is for executing the program for terminal control stored in memory, to realize described in Fig. 1 or Fig. 3
A kind of step in information processing method.
The application also provides a kind of storage medium, is stored thereon with computer program, and the computer program is processed
The each step for executing the corresponding embodiment method of Fig. 1 and Fig. 3 is realized when device executes, which is not described herein again.It is computer-readable to deposit
Storage media can be magnetic RAM (FRAM, ferromagnetic random access memory), read-only
Memory (ROM, Read Only Memory), programmable read only memory (PROM, Programmable Read-Only
Memory), Erasable Programmable Read Only Memory EPROM (EPROM, Erasable Programmable Read-Only Memory),
Electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only
Memory), flash memory (Flash Memory), magnetic surface storage, CD or CD-ROM (CD-ROM, Compact
Disc Read-Only Memory) etc. memories.
Embodiment disclosed in the present application forms 3D point cloud data for binocular camera acquired image.In order to
Understood and accurate image, distance during acquiring image between two cameras of adjusting specifically acquire close
The object at place reduces distance between two cameras, and the object for acquiring distant place increases distance between two cameras, to improve essence
Degree；Or/and angle during acquisition between two cameras of adjustment.Specifically, the object acquired nearby reduces two
Angle between camera, the object for acquiring distant place increases angle between two cameras, to improve precision.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, the shape of hardware embodiment, software implementation or embodiment combining software and hardware aspects can be used in the present invention
Formula.Moreover, the present invention, which can be used, can use storage in the computer that one or more wherein includes computer usable program code
The form for the computer program product implemented on medium (including but not limited to magnetic disk storage and optical memory etc.).
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (10)
1. a kind of information processing method, which comprises
Obtain adjustment instruction；
The adjustment instruction is responded, the relativeness between at least two cameras is adjusted；
At least two camera by adjusting after acquires the acquisition image of the target object for target object；Its
In, before at least two camera adjusted is higher than adjustment for the clarity of target object acquisition image collected
At least two cameras are directed to target object acquisition image collected.
2. the method according to claim 1, wherein at least two camera shootings scalp acupuncture by adjusting after
The acquisition image of the target object is acquired to target object, comprising:
Image Acquisition is carried out for target object based at least two camera adjusted, respectively obtains target object at least
Two flat images；
At least based at least two flat images of the target object, at least one pixel in the target object is determined
Depth information and Pixel Information obtain the acquisition image of the target object.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Points cloud processing is carried out for target object acquisition image collected based at least two camera adjusted, with
Form the three dimensional point cloud of the target object.
4. according to the method described in claim 1, it is characterized by: the relativeness is between at least two camera
Distance, or/and, angle of the relativeness between at least two camera and middle line.
5. according to the method described in claim 4, it is characterized by:
Target object is closer apart from plane where at least two camera, and the distance between described at least two camera is more
It is small；
Target object is remoter apart from plane where at least two camera, and the distance between described at least two camera is more
Greatly；
Or/and
Target object is closer apart from plane where at least two camera, between at least two camera and middle line
Angle is smaller；
Target object is remoter apart from plane where at least two camera, between at least two camera and middle line
Angle is bigger.
6. the method according to claim 1, wherein the method also includes:
Determine target object；
Plane is at a distance from the target object where obtaining at least two camera；
Generate the adjustment instruction based on the distance, the adjustment instruction be used to indicate adjustment at least two camera it
Between relativeness.
7. a kind of information processing unit, described device include:
Acquiring unit, for obtaining adjustment instruction；
Adjustment unit adjusts the relativeness between at least two cameras for responding the adjustment instruction；
Processing unit acquires the target object for target object at least two camera by adjusting after
Acquire image；Wherein, clarity of at least two camera adjusted for target object acquisition image collected
Target object acquisition image collected is directed to higher than at least two cameras before adjustment.
8. device according to claim 7, it is characterised in that:
The processing unit is specifically used for carrying out Image Acquisition for target object based at least two camera adjusted,
Respectively obtain at least two flat images of target object；At least based at least two flat images of the target object, really
The depth information and Pixel Information of at least one pixel, obtain the acquisition figure of the target object in the fixed target object
Picture.
9. a kind of information processing equipment, the equipment includes: processor and is configured to store the meter that can be run on a processor
The memory of calculation machine program,
Wherein, when the processor is configured to run the computer program, perform claim requires any one of 1 to 6 the method
The step of.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Executable instruction, the computer executable instructions are configured to execute the method that any one of the claims 1 to 6 provide.
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