WO2020252739A1 - Method and apparatus for acquiring gain coefficient - Google Patents

Abstract

Provided in embodiments of the present invention are a method and apparatus for acquiring a gain coefficient. When gain coefficients respectively corresponding to two image sensors are calculated respectively, a method of brightness mean squared error is employed. According to brightness matrices of the two image sensors, the gain coefficients respectively corresponding to the two image sensors when the brightness mean squared error of the two image sensors reaches the minimum value are calculated respectively. Compared with calculating a gain coefficient corresponding to an image sensor according to one's own photographing experience in the prior art, the accuracy of a gain coefficient is improved.

Description

Method and device for obtaining gain coefficient Technical field

The present invention relates to the technical field of image processing, and in particular to a method and device for obtaining a gain coefficient.

Background technique

In order to meet the shooting needs in different environments, binocular cameras are usually used to shoot pictures in the environment to obtain binocular images. Compared with the monocular images obtained by monocular cameras, the pictures can be restored more vividly, thereby improving the shooting effect.

When a binocular camera is used to take pictures in the environment, the essence is to take pictures of the pictures in the environment through two image sensors in the binocular camera. However, because different image sensors have a certain gain difference, users need to calculate the corresponding gain coefficient of the image sensor according to their own photographing experience, and adjust the brightness of the image output by the image sensor according to the calculated gain coefficient, so that the two image cameras finally The brightness of the output image is as close as possible.

However, when calculating the gain coefficient corresponding to the image sensor according to one's own photographing experience, the accuracy of the calculated gain coefficient will not be high.

Summary of the invention

The embodiment of the present invention provides a method and device for obtaining a gain coefficient, which improves the accuracy of the gain coefficient when calculating the gain coefficient corresponding to the image sensor.

In the first aspect, an embodiment of the present invention provides a method for obtaining a gain coefficient, which is applied to two preset image sensors, and the method for obtaining a gain coefficient may include:

Acquiring the brightness matrices of the two image sensors respectively;

According to the brightness matrices of the two image sensors, calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value; wherein, each of the two sensors The corresponding gain coefficient is used to determine whether it is necessary to adjust the gain of the two image sensors.

In a second aspect, an embodiment of the present invention provides a gain coefficient obtaining device, which is applied to two preset image sensors, and the gain coefficient obtaining device includes: a memory and a processor;

The memory is used to store program code;

The processor is configured to call the program code, and when the program code is executed, to perform the following operations:

Acquire the brightness matrices of the two image sensors respectively; and calculate the brightness mean square error of the two image sensors to a minimum value according to the brightness matrices of the two image sensors, respectively Corresponding gain coefficient; wherein the respective gain coefficients of the two sensors are used to determine whether it is necessary to adjust the gain of the two image sensors.

In a third aspect, an embodiment of the present invention provides a computer storage medium, which is characterized by comprising a readable storage medium and a computer program, and the computer program is used to implement the gain coefficient of any one of the above-mentioned first aspects. Obtaining method.

In a fourth aspect, the present invention provides a program product. The program product includes a computer program (ie, an execution instruction), and the computer program is stored in a readable storage medium. The processor may read the computer program from a readable storage medium, and the processor executes the computer program to implement the method for obtaining the gain coefficient according to any one of the above-mentioned first aspects.

In the method and device for obtaining gain coefficients provided by the embodiments of the present invention, when calculating the respective gain coefficients of two image sensors, the method of brightness mean square error is adopted. According to the brightness matrices of the two image sensors, two When the brightness mean square error of the image sensor reaches a minimum value, the respective gain coefficients of the two image sensors increase the accuracy of the gain coefficients compared with the gain coefficients corresponding to the image sensors calculated according to their own photographing experience in the prior art .

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

Figure 1 is an application scenario diagram provided by an embodiment of the present invention;

2 is a schematic flowchart of a method for obtaining gain coefficients according to an embodiment of the present invention;

3 is a schematic flowchart of another method for obtaining gain coefficients according to an embodiment of the present invention;

4 is a schematic flowchart of a method for adjusting gain provided by an embodiment of the present invention;

5 is a schematic diagram of brightness comparison of an image provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a gain coefficient obtaining apparatus provided by an embodiment of the present invention.

Detailed ways

Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

In the embodiments of the present invention, "at least one" refers to one or more, and "multiple" refers to two or more. "And/or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In the text description of the present invention, the character "/" generally indicates that the associated objects before and after are in an "or" relationship.

Figure 1 is a diagram of an application scenario provided by an embodiment of the present invention. When a user uses a camera including binocular cameras to take pictures in the environment, since the image sensors in different cameras have a certain gain difference, the user needs to be based on their own Based on the photographing experience, calculate the gain coefficient corresponding to the image sensor, and adjust the brightness of the image output by the image sensor according to the calculated gain coefficient, so that the brightness of the final output image of the two image cameras is as close as possible. However, when calculating the gain coefficient corresponding to the image sensor according to one's own photographing experience, the accuracy of the calculated gain coefficient will not be high.

In order to improve the accuracy of the gain coefficient, the embodiment of the present invention provides a method for obtaining the gain coefficient, which can be applied to two preset image sensors. When calculating the respective gain coefficients of the two image sensors, first obtain the two gain coefficients respectively. According to the brightness matrix of the two image sensors, calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value, so that the two image sensors can be passed The respective gain coefficients of the sensors determine whether it is necessary to adjust the gain of the two image sensors. It can be seen that when calculating the respective gain coefficients of the two image sensors, the brightness mean square error method is used. According to the brightness matrix of the two image sensors, the brightness mean square error of the two image sensors is calculated to reach a minimum value. At this time, the gain coefficients corresponding to the two image sensors are compared with the gain coefficients corresponding to the image sensors calculated according to their own photographing experience in the prior art, which improves the accuracy of the gain coefficients.

Before describing in detail the technical solutions provided by the embodiments of the present invention, several concepts related to the present invention will be introduced first. Among them, the brightness matrix of the image sensor can be understood as a matrix for indicating the brightness of the image sensor. The gain of the image sensor can be calculated according to the gain coefficient corresponding to the image sensor, so that the image brightness of the image sensor is adjusted by the gain of the image sensor, so that the image brightness of the image sensor meets the requirements. For example, the image brightness of the image sensor reaches a threshold, or the image brightness of the image sensor is as consistent as possible with the brightness of another image sensor.

The technical solution of the present invention will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

For example, please refer to FIG. 2. FIG. 2 is a schematic flowchart of a method for obtaining gain coefficients according to an embodiment of the present invention, which is applied to two preset image sensors. The method for obtaining gain coefficients may be The acquisition device for the gain coefficient can be set independently or in the camera. The method for obtaining the gain coefficient may include:

S201: Obtain brightness matrices of two image sensors respectively.

Because the brightness of the image sensor affects the calculation of the gain coefficient, that is, the brightness of the image sensor is used as an influencing factor of the gain coefficient. Therefore, when calculating the gain coefficient corresponding to the image sensor, it is necessary to obtain the information indicating the image sensor of the two image sensors. Brightness matrix, and after obtaining the brightness matrix of the two image sensors, respectively, according to the brightness matrix of the two image sensors, calculate the respective gains of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value Coefficient, that is, perform the following S202:

S202: According to the brightness matrices of the two image sensors, respectively calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value.

Among them, the respective gain coefficients of the two sensors are used to determine whether it is necessary to adjust the gain of the two image sensors.

It can be seen that when calculating the respective gain coefficients of the two image sensors, the mean square error method is used. According to the brightness matrix of the two image sensors, the brightness mean square error of the two image sensors is calculated separately when the minimum value is reached. Compared with the gain coefficients corresponding to the image sensors calculated according to the photographing experience in the prior art, the gain coefficients corresponding to the two image sensors improve the accuracy of the gain coefficients.

In the embodiment shown in FIG. 2 above, as an example, the two image sensors may be the first sensor and the second image sensor. Wherein, the first image sensor may be a left-eye image sensor or a right-eye image sensor, and correspondingly, the second image sensor may be a right-eye sensor or a left-eye image sensor. It should be noted that, in the embodiment of the present invention, the first image sensor is the left-eye image sensor and the second image sensor is the right-eye sensor as an example for description, but it does not mean that the embodiment of the present invention is limited to this.

Based on the embodiment shown in FIG. 2, the following will describe in detail how to calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value according to the brightness matrices of the two image sensors. For example, in the embodiment of the present invention, in at least two different scenes, according to the brightness matrix of the two image sensors, the two image sensors can be calculated when the brightness mean square error of the two image sensors reaches a minimum value. The respective gain coefficients.

In a possible scenario, when the gains of the first image sensor and the second image sensor are adjusted at the same time, when the brightness mean square error of the two image sensors is calculated to reach a minimum value, the first image sensor and the second image sensor Each corresponding gain coefficient, so as to obtain the respective gain coefficients of the first image sensor and the second image sensor when the brightness mean square error of the two image sensors reaches a minimum value.

It can be seen that in this possible scenario, when the respective gain coefficients of the first image sensor and the second image sensor are calculated separately, the gains of the first image sensor and the second image sensor are adjusted at the same time. Calculated. It should be noted that adjusting the gains of the first image sensor and the second image sensor at the same time cannot be limited to being understood as adjusting the gains of the first image sensor and the second image sensor at the same time, but can also be understood as adjusting the gains of the first image sensor. The gain of the sensor adjusts the gain of the second image sensor.

In another possible scenario, when adjusting the first image sensor, calculate the gain coefficient corresponding to the first image sensor when the brightness mean square error of the two image sensors reaches a minimum value; when adjusting the second image sensor, calculate When the brightness mean square error of the two image sensors reaches a minimum value, the corresponding gain coefficient of the second image sensor is obtained, so that when the brightness mean square error of the two image sensors reaches a minimum value, the first image sensor and the second image sensor respectively The corresponding gain factor.

It can be seen that in this possible scenario, when the respective gain coefficients of the first image sensor and the second image sensor are respectively calculated, the gains of the first image sensor and the second image sensor are adjusted separately. Calculated. Taking this possible scenario as an example, when calculating the corresponding gain coefficient of the second image sensor when the brightness mean square error of the two image sensors reaches a minimum value, please refer to FIG. 3, which is an embodiment of the present invention. A schematic flow chart of another method for obtaining gain coefficients is provided, and the method for obtaining gain coefficients may further include:

S301: According to the brightness matrix and the weight matrix of the two image sensors, respectively calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value.

Optionally, when the brightness mean square error of the two image sensors is calculated to reach a minimum value according to the brightness matrix and the weight matrix of the two image sensors, when the respective gain coefficients of the two image sensors are calculated, at least two A possible implementation is to calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value.

In a possible implementation, the images of the two image sensors can be regarded as an entire area, and the brightness mean square error of the two image sensors can be calculated to reach a minimum value according to the brightness matrix and weight matrix of the entire area of the image. When, the two image sensors respectively correspond to the gain coefficient.

It should be noted that, in this possible implementation, the images of the two image sensors are taken as an entire area, and the brightness mean square error of the two image sensors is calculated according to the brightness matrix and weight matrix of the entire area of the image. When the minimum value is reached, the respective gain coefficients of the two image sensors can be understood as calculating the respective gain coefficients of the two image sensors based on the brightness mean square error of the global average. The method of calculating the respective gain coefficients of the two image sensors based on the global average of the brightness mean square error method improves the gain coefficient compared with calculating the gain coefficients corresponding to the image sensors according to one's own photographing experience in the prior art Accuracy.

In another possible implementation, the images of the two image sensors can be partitioned separately to generate P partitions respectively; P is an integer greater than or equal to 2; and then according to the brightness matrix and weight matrix of each partition Calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value.

It should be noted that in this possible implementation, the images of the two image sensors are first partitioned to generate P partitions, and then the two images are calculated according to the brightness matrix and weight matrix of each partition. When the brightness mean square error of the sensor reaches a minimum value, the respective gain coefficients of the two image sensors can be understood as calculating the respective gain coefficients of the two image sensors based on the brightness mean square error of the partition. The method of calculating the respective gain coefficients of the two image sensors based on the partition-based brightness mean square error method improves the accuracy of the gain coefficients compared with calculating the gain coefficients corresponding to the image sensors based on one's own photographing experience in the prior art degree.

Take two image sensors as the first image sensor and the second image sensor as an example. Assume that the input channel of the first image sensor is channel A, and the input channel of the second image sensor is channel B. The image and the image of the second sensor are separately processed to generate P partitions, where P can be represented by N×M, that is, divided into N×M partitions, and the brightness matrix corresponding to the image of the first image sensor is A _N×M , The weight matrix corresponding to the image of the first image sensor is AW _N×M , the brightness matrix corresponding to the image of the second image sensor is B _N×M , and the weight matrix corresponding to the image of the second image sensor is BW _N×M , which defines The brightness mean square error MSE of the two image sensors is formula (1):

Among them, A _i×j represents the brightness matrix corresponding to the _i×j partition in the N×M partitions of the image of the first image sensor, and AW _i×j represents the brightness matrix of the N×M partition of the image of the first image sensor. The weight matrix corresponding to i×j partitions, B _i×j represents the brightness matrix corresponding to the i×j partition in the N×M partitions of the image of the second image sensor, and BW _i×j represents the image of the second image sensor The weight matrix corresponding to the i×j partition in the N×M partitions. Wherein, i is an integer greater than or equal to 1 and less than or equal to N, and j is an integer greater than or equal to 1 and less than or equal to M.

Based on the above formula (1), for example, when only the gain of the first image sensor is adjusted, the brightness mean square error MSE function of the first image sensor can be expressed as formula (2); when only the gain of the second image sensor is adjusted , The brightness mean square error MSE function of the second image sensor can be expressed as formula (3).

Among them, k _a represents the gain coefficient corresponding to the first image sensor, and k _b represents the gain coefficient corresponding to the second image sensor. According to the above formula, the gain coefficient corresponding to the first image sensor is the ratio of the gain of the first image sensor to the gain of the second image sensor; the gain coefficient corresponding to the second image sensor is the sum of the gain of the second image sensor The ratio of the gain of the first image sensor.

For the above formula (3), the following formula (4) is obtained.

Taking the derivative of formula (4) again, the following formula (5) can be obtained.

Let (MSE(k _b ) ² )'=0 in the above formula (5), then the following formula (6) is obtained.

Calculated according to formula (6):

After the gain coefficient k _b corresponding to the second image sensor is obtained, the gain coefficient k _a corresponding to the first image sensor can be obtained due to the reciprocity of k _a and k _b .

It is understandable that when the above formula (5) (MSE(k _b ) ² )'>0, k _a and k _b obtained from the above are the extreme points of MSE(k _a ) and MSE(k _b ) , That is, when the brightness mean square error of the two image sensors reaches a minimum value, the gain coefficient k _a corresponding to the first image sensor and the gain coefficient k _b corresponding to the second image sensor are calculated.

It should be noted that in the above derivation process, after formula (2) and formula (3) are obtained, formula (3) is first derived to obtain the gain coefficient k _b corresponding to the second image sensor, and then according to k _a The gain coefficient k _a corresponding to the first image sensor can be obtained by the reciprocity of k _b and k _b . Of course, formula (2) can also be derived first to obtain the gain coefficient k _a corresponding to the first image sensor, and then according to k _a and The reciprocity of k _b can obtain the gain coefficient k _b corresponding to the second image sensor. Here, the embodiment of the present invention only derives formula (3) first to obtain the gain coefficient k _b corresponding to the second image sensor, and then obtains the gain corresponding to the first image sensor according to the reciprocity of k _a and k _b The coefficient k _a is described as an example, but it does not mean that the embodiment of the present invention is limited thereto.

It can be seen that when calculating the respective gain coefficients of the two image sensors, the mean square error method is used. According to the brightness matrix and weight matrix of the two image sensors, the brightness mean square error of the two image sensors is calculated to reach the extreme When the value is small, the respective gain coefficients of the two image sensors improve the accuracy of the gain coefficients compared with the gain coefficients corresponding to the image sensors calculated according to one's own photographing experience in the prior art.

It can be seen that in the embodiment of the present invention, when calculating the respective gain coefficients of the two image sensors, the brightness mean square error method is used to calculate the respective gain coefficients of the two image sensors. Of course, a histogram can also be used. The mean square error method or other gain coefficient calculation methods calculate the respective gain coefficients of the two image sensors. Here, the embodiment of the present invention is only described by using the method of luminance mean square error to calculate the respective gain coefficients of two image sensors as an example, but it does not mean that the embodiment of the present invention is limited to this.

After calculating the brightness mean square error of the two image sensors to a minimum value through the embodiment shown in FIG. 2 or FIG. 3, after the respective gain coefficients of the two image sensors, the corresponding gain coefficients of the two image sensors can also be The gain coefficient of determines whether to adjust the gain of the two image sensors, so as to adjust the brightness of the image output by the image sensor according to the adjusted gain, that is, perform brightness equalization on the brightness of the image output by the two image sensors. For example, please refer to FIG. 4. FIG. 4 is a schematic flowchart of a method for adjusting gain according to an embodiment of the present invention. The method for obtaining gain coefficients may further include:

S401: According to the respective gain coefficients of the two image sensors, determine the image sensor to be adjusted that needs gain adjustment among the two image sensors.

Optionally, when determining the to-be-adjusted image sensor of the two image sensors that requires gain adjustment according to the respective gain coefficients of the two image sensors, when the gain coefficient corresponding to the first image sensor is greater than a preset threshold, the An image sensor is the image sensor to be adjusted; when the gain coefficient corresponding to the second image sensor is greater than the preset threshold, the second image sensor is determined to be the image sensor to be adjusted.

Further, when the gain coefficient corresponding to the first image sensor is greater than the preset threshold, and the gain coefficient corresponding to the second image sensor is less than the preset threshold, it is determined that the first image sensor is the image sensor to be adjusted; when the second image sensor corresponds to When the gain coefficient is greater than the preset threshold, and the gain coefficient corresponding to the first image sensor is less than the preset threshold, it is determined that the second image sensor is the image sensor to be adjusted.

The preset threshold may be 1, or 1.01, of course, it may also be 0.99, which can be specifically set according to actual needs. Here, the specific value of the preset threshold is not further limited in the embodiment of the present invention. For example, in this embodiment of the present invention, the preset threshold may be set to 1.

After the respective gain coefficients of the first image sensor and the second image sensor are respectively calculated through the embodiment shown in FIG. 3, it can be determined that the gain coefficient k _a corresponding to the first image sensor is between the preset threshold 1 The size relationship, and/or determine the size relationship between the gain coefficient k _b corresponding to the second image sensor and the preset threshold 1, that is, through at least three possible implementations, the first image sensor and the second image sensor determine The image sensor to be adjusted.

In a possible implementation manner: the magnitude relationship between the gain coefficient k _a corresponding to the first image sensor and the preset threshold 1 can be determined first, and if the gain coefficient corresponding to the first image sensor is greater than the preset threshold 1, then directly The first image sensor is determined as the image sensor to be adjusted, and there is no need to determine the magnitude relationship between the gain coefficient k _b corresponding to the second image sensor and the preset threshold 1; on the contrary, if the gain coefficient corresponding to the first image sensor is less than the preset threshold value 1. Set the threshold value 1, it is necessary to further determine the magnitude relationship between the gain coefficient k _b corresponding to the second image sensor and the preset threshold value 1. If the gain coefficient k _b corresponding to the second image sensor is greater than the preset threshold value 1, the second image sensor The image sensor is determined to be the image sensor to be adjusted.

In another possible implementation manner, the magnitude relationship between the gain coefficient k _b corresponding to the second image sensor and the preset threshold 1 may be determined first, and if the gain coefficient corresponding to the second image sensor is greater than the preset threshold 1, then The second image sensor is directly determined as the image sensor to be adjusted, and there is no need to determine the magnitude relationship between the gain coefficient k _a corresponding to the first image sensor and the preset threshold 1; on the contrary, if the gain coefficient k corresponding to the second image sensor is _{b is} less than the preset threshold 1, it is necessary to further determine the magnitude relationship between the gain coefficient k _a corresponding to the first image sensor and the preset threshold 1. If the gain coefficient k _a corresponding to the first image sensor is greater than the preset threshold 1, then The first image sensor is determined as the image sensor to be adjusted.

In another possible implementation manner, the magnitude relationship between the gain coefficient k _a corresponding to the first image sensor and the preset threshold 1 can be simultaneously determined, and the gain coefficient k _b corresponding to the second image sensor is greater than the preset threshold 1 If the gain coefficient k _a corresponding to the first image sensor is greater than the preset threshold value 1, and the gain coefficient k _b corresponding to the second image sensor is less than the preset threshold value 1, the first image sensor is directly determined as The image sensor to be adjusted; on the contrary, if the gain coefficient k _b corresponding to the second image sensor is greater than the preset threshold value 1, and the gain coefficient k _a corresponding to the first image sensor is less than the preset threshold value 1, the second image sensor is directly determined Is the image sensor to be adjusted, so that the image sensor to be adjusted is determined among the first image sensor and the second image sensor.

It should be noted that in the embodiment of the present invention, when the gain coefficient corresponding to the first image sensor and the gain coefficient corresponding to the second image sensor are both smaller than the preset threshold, the gains of the first image sensor and the second image sensor are not adjusted. .

After the image sensor to be adjusted is determined in the first image sensor and the second image sensor through the above three possible implementation manners, the following S402 can be executed:

S402: Adjust the current gain of the image sensor to be adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted.

Optionally, when the current gain of the image sensor to be adjusted is adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted, the current adjustment can be calculated first according to the gain coefficient of the image sensor to be adjusted. Proportion: The product of the current adjustment ratio and the last gain of the image sensor to be adjusted is used as the target gain, and then the current gain of the image sensor to be adjusted is adjusted to the target gain. The adjustment ratio is the ratio of the current gain of the image sensor to be adjusted to the previous gain of the image sensor to be adjusted.

It can be seen that before the product of the current adjustment ratio and the last gain of the image sensor to be adjusted is used as the target gain, the current adjustment ratio needs to be obtained first, and then the current adjustment ratio and the last time the image sensor to be adjusted The product of the gain is adjusted as the target gain. It should be noted that, in the embodiment of the present invention, when the image sensor to be adjusted is the first image sensor, the corresponding current adjustment ratio acquisition method corresponds to when the image sensor to be adjusted is the second image sensor. The current adjustment ratio is obtained in different ways.

Optionally, when the first image sensor is an image sensor to be adjusted, and the first image sensor is a left-eye image sensor, when obtaining the current adjustment ratio of the first image sensor, the gain coefficient corresponding to the first image sensor may be calculated first The product of the previous adjustment ratio of the first image sensor, and the product is the current adjustment ratio of the first image sensor. Further, after the current adjustment ratio of the first image sensor is calculated, the product of the current adjustment ratio of the first image sensor and the last gain of the first image sensor is calculated, and the product is the target gain, so that the first image sensor can be adjusted. The current gain of an image sensor is adjusted as the target gain, and the brightness of the image output by the first image sensor is adjusted by adjusting the current gain of the first image sensor. The adjustment ratio of the first image sensor is the ratio of the current gain of the first image sensor to the previous gain of the first image sensor.

Optionally, when the second image sensor is an image sensor to be adjusted, and the second image sensor is a right-eye image sensor, when acquiring the current adjustment ratio of the second image sensor, the last adjustment of the second image sensor may be calculated first The quotient of the ratio divided by the gain coefficient corresponding to the second image sensor, and the quotient is the current adjustment ratio of the second image sensor. Further, after the current adjustment ratio of the second image sensor is calculated, the product of the current adjustment ratio of the second image sensor and the last gain of the second image sensor is calculated, and the product is the target gain, so that the first The current gain of the second image sensor is adjusted as the target gain, and the brightness of the image output by the second image sensor is adjusted by adjusting the current gain of the second image sensor. The adjustment ratio of the second image sensor is the ratio of the current gain of the second image sensor to the previous gain of the second image sensor.

In the gain coefficient acquisition method provided by the embodiment of the present invention, the respective gain coefficients of the first image sensor and the second image sensor are calculated, and according to the respective gain coefficients of the first image sensor and the second image sensor, the two After the image sensor to be adjusted for which gain adjustment is required among the image sensors, the current gain of the image sensor to be adjusted can be adjusted according to the corresponding gain coefficient of the image sensor to be adjusted, so that the output of the first image sensor The image brightness is as close as possible to the brightness of the image output by the second image sensor. For example, please refer to FIG. 5. FIG. 5 is a schematic diagram of brightness comparison of an image provided by an embodiment of the present invention. The two images in the first row in FIG. 5 are before the brightness equalization, the image output by the first image sensor and The image output by the second image sensor, the two images in the second row in Figure 5 are after brightness equalization, the image output by the first image sensor and the image output by the second image sensor, combined with Figure 5, it can be seen that before the brightness equalization , The brightness of the image output by the first image sensor and the brightness of the image output by the second image sensor are quite different, and after the brightness equalization, the brightness of the image output by the first image sensor and the brightness of the image output by the second image sensor The difference is very small and the brightness is almost the same, thus improving the user experience.

FIG. 6 is a schematic structural diagram of a gain coefficient obtaining device 60 provided by an embodiment of the present invention, which is applied to two preset image sensors. For an example, please refer to FIG. 6. The gain coefficient obtaining device 60 may include : Processor 601 and memory 602.

The memory 602 is used to store program codes.

The processor 601 is used to call program code, and when the program code is executed, it is used to perform the following operations:

Obtain the brightness matrices of the two image sensors separately; and calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value according to the brightness matrices of the two image sensors; The respective gain coefficients of each sensor are used to determine whether to adjust the gain of the two image sensors.

Optionally, the processor 601 is further configured to determine the to-be-adjusted image sensor of the two image sensors that needs gain adjustment according to the respective gain coefficients of the two image sensors; and to treat the image sensor according to the corresponding gain coefficient of the image sensor to be adjusted Adjust the current gain of the image sensor for adjustment.

Optionally, the processor 601 is specifically configured to adjust the current gain of the image sensor to be adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted.

Optionally, the processor 601 is specifically configured to adjust the current gain of the image sensor to be adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted, including:

The processor 601 is specifically configured to calculate the current adjustment ratio according to the gain coefficient corresponding to the image sensor to be adjusted; where the adjustment ratio is the ratio of the current gain of the image sensor to be adjusted to the previous gain of the image sensor to be adjusted; The product of the adjustment ratio of and the previous gain of the image sensor to be adjusted is used as the target gain, and the current gain of the image sensor to be adjusted is adjusted to the target gain.

Optionally, the processor 601 is specifically configured to calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value when the gains of the two image sensors are adjusted at the same time.

Optionally, the two image sensors include a first image sensor and a second image sensor.

The processor 601 is specifically configured to calculate the gain coefficient corresponding to the first image sensor when the brightness mean square error of the two image sensors reaches a minimum value when adjusting the first image sensor; and when adjusting the second image sensor, calculate two The gain coefficient corresponding to the second image sensor when the brightness mean square error of the two image sensors reaches a minimum value.

Optionally, the processor 601 is specifically configured to determine that the first image sensor is the image sensor to be adjusted when the gain coefficient corresponding to the first image sensor is greater than the preset threshold; when the gain coefficient corresponding to the second image sensor is greater than the preset threshold When the second image sensor is determined to be the image sensor to be adjusted.

Optionally, the processor 601 is specifically configured to determine that the first image sensor is the image sensor to be adjusted when the gain coefficient corresponding to the first image sensor is greater than a preset threshold and the gain coefficient corresponding to the second image sensor is less than the preset threshold. When the gain coefficient corresponding to the second image sensor is greater than the preset threshold, and the gain coefficient corresponding to the first image sensor is less than the preset threshold, the second image sensor is determined to be the image sensor to be adjusted.

Optionally, when the gain coefficient corresponding to the first image sensor is greater than a preset threshold, the processor 601 is specifically configured to:

Taking the product of the gain coefficient corresponding to the first image sensor and the last adjustment ratio of the first image sensor as the current adjustment ratio; adjust the gain of the first image sensor according to the current adjustment ratio and the last gain of the first image sensor; where , The adjustment ratio is the ratio of the current gain of the first image sensor to the previous gain of the first image sensor.

Optionally, when the gain coefficient corresponding to the second image sensor is greater than a preset threshold, the processor 601 is specifically configured to:

Divide the last adjustment ratio of the second image sensor by the gain coefficient corresponding to the second image sensor to obtain the current adjustment ratio; and adjust the gain of the second image sensor according to the current adjustment ratio and the last gain of the second image sensor; The adjustment ratio is the ratio of the current gain of the second image sensor to the previous gain of the second image sensor.

Optionally, the processor 601 is further configured to not adjust the gain of the first image sensor and the second image sensor when the gain coefficient corresponding to the first image sensor and the gain coefficient corresponding to the second image sensor are both smaller than a preset threshold.

Optionally, the processor 601 is specifically configured to calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value according to the brightness matrix and the weight matrix of the two image sensors.

Optionally, the processor 601 is specifically configured to calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value according to the brightness matrix and the weight matrix of the two image sensors, include:

The processor 601 is specifically configured to perform partition processing on the images of the two image sensors to generate P partitions respectively; P is an integer greater than or equal to 2; and calculates two partitions according to the brightness matrix and weight matrix of each partition. When the brightness mean square error of the image sensor reaches a minimum value, the corresponding gain coefficient of the two image sensors.

The gain coefficient obtaining device 60 shown in the embodiment of the present invention can implement the technical solution of the gain coefficient obtaining method shown in any of the above embodiments, its realization principle and beneficial effects and the realization principle and benefits of the gain coefficient obtaining method The effect is similar and will not be repeated here.

An embodiment of the present invention also provides a computer storage medium, including a readable storage medium and a computer program, the computer program is used to implement the gain coefficient acquisition method described in any of the above embodiments, and its implementation principles and beneficial effects The realization principle and beneficial effects of the method for obtaining the gain coefficient are similar, and will not be repeated here.

The embodiment of the present invention also provides a program product, the program product includes a computer program (that is, an execution instruction), and the computer program is stored in a readable storage medium. The processor can read the computer program from a readable storage medium, and the processor executes the computer program to implement the gain coefficient obtaining method described in any of the above embodiments, the realization principle and the beneficial effects and the gain coefficient obtaining method The implementation principles and beneficial effects are similar, and will not be repeated here.

The processor in the foregoing embodiment may be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA), or Other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory (RAM), flash memory, read-only memory (read-only memory, ROM), programmable read-only memory, or electrically erasable programmable memory, registers, etc. mature in the field Storage medium. The storage medium is located in the memory, and the processor reads the instructions in the memory and completes the steps of the above method in combination with its hardware.

A person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims (27)

A method for obtaining gain coefficients is characterized in that it is applied to two preset image sensors, and the method includes: Acquiring the brightness matrices of the two image sensors respectively; According to the brightness matrices of the two image sensors, calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value; wherein, each of the two sensors The corresponding gain coefficient is used to determine whether it is necessary to adjust the gain of the two image sensors. The method of claim 1, wherein the method further comprises: Determine, according to the respective gain coefficients of the two image sensors, the image sensor to be adjusted that needs gain adjustment among the two image sensors; The current gain of the image sensor to be adjusted is adjusted according to the gain coefficient corresponding to the image sensor to be adjusted. The method according to claim 2, wherein the adjusting the current gain of the image sensor to be adjusted according to the gain coefficient corresponding to the image sensor to be adjusted comprises: The current gain of the image sensor to be adjusted is adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted. The method of claim 3, wherein the current gain of the image sensor to be adjusted is adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted ,include: Calculate the current adjustment ratio according to the gain coefficient corresponding to the image sensor to be adjusted; wherein the adjustment ratio is the ratio of the current gain of the image sensor to be adjusted to the previous gain of the image sensor to be adjusted; The product of the current adjustment ratio and the previous gain of the image sensor to be adjusted is used as the target gain, and the current gain of the image sensor to be adjusted is adjusted to the target gain. The method according to any one of claims 1 to 4, wherein the respective gain coefficients corresponding to the two image sensors are calculated when the mean square error of the brightness of the two image sensors reaches a minimum value. ,include: When the gains of the two image sensors are adjusted at the same time, the respective gain coefficients of the two image sensors are calculated when the brightness mean square error of the two image sensors reaches a minimum value. The method according to any one of claims 2 to 4, wherein the two image sensors comprise a first image sensor and a second image sensor, and the brightness average of the two image sensors is calculated respectively. When the square error reaches a minimum value, the respective gain coefficients of the two image sensors include: When adjusting the first image sensor, calculating the gain coefficient corresponding to the first image sensor when the mean square error of brightness of the two image sensors reaches a minimum value; When adjusting the second image sensor, calculate the gain coefficient corresponding to the second image sensor when the brightness mean square error of the two image sensors reaches a minimum value. The method according to claim 6, wherein the determining the image sensor to be adjusted that needs gain adjustment of the two image sensors according to respective gain coefficients of the two image sensors comprises: When the gain coefficient corresponding to the first image sensor is greater than a preset threshold, determining that the first image sensor is the image sensor to be adjusted; When the gain coefficient corresponding to the second image sensor is greater than the preset threshold, it is determined that the second image sensor is the image sensor to be adjusted. The method according to claim 7, wherein: The determining that the first image sensor is the image sensor to be adjusted when the gain coefficient corresponding to the first image sensor is greater than the preset threshold includes: When the gain coefficient corresponding to the first image sensor is greater than the preset threshold, and the gain coefficient corresponding to the second image sensor is less than the preset threshold, it is determined that the first image sensor is the image to be adjusted sensor; The determining that the second image sensor is the image sensor to be adjusted when the gain coefficient corresponding to the second image sensor is greater than the preset threshold includes: When the gain coefficient corresponding to the second image sensor is greater than the preset threshold, and the gain coefficient corresponding to the first image sensor is less than the preset threshold, it is determined that the second image sensor is the image to be adjusted sensor. The method according to claim 7 or 8, wherein when the gain coefficient corresponding to the first image sensor is greater than the preset threshold, the gain coefficient corresponding to the image sensor to be adjusted is adjusted The adjustment of the current gain of the image sensor to be adjusted includes: The product of the gain coefficient corresponding to the first image sensor and the last adjustment ratio of the first image sensor is used as the current adjustment ratio; wherein, the adjustment ratio is the current gain of the first image sensor and the The last gain ratio of the first image sensor; The gain of the first image sensor is adjusted according to the current adjustment ratio and the previous gain of the first image sensor. The method according to claim 7 or 8, wherein when the gain coefficient corresponding to the second image sensor is greater than the preset threshold, the gain coefficient corresponding to the image sensor to be adjusted is adjusted to The adjustment of the current gain of the image sensor to be adjusted includes: Divide the last adjustment ratio of the second image sensor by the gain coefficient corresponding to the second image sensor to obtain the current adjustment ratio; wherein, the adjustment ratio is the current gain of the second image sensor and the The last gain ratio of the second image sensor; The gain of the second image sensor is adjusted according to the current adjustment ratio and the previous gain of the second image sensor. The method according to claim 7 or 8, wherein the method further comprises: When the gain coefficient corresponding to the first image sensor and the gain coefficient corresponding to the second image sensor are both less than the preset threshold, the gains of the first image sensor and the second image sensor are not adjusted. The method according to any one of claims 1 to 4, wherein when the brightness mean square error of the two image sensors is calculated according to the brightness matrices of the two image sensors and reaches a minimum value, The respective gain coefficients of the two image sensors include: According to the brightness matrix and the weight matrix of the two image sensors, respectively calculate the respective gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value. The method according to claim 12, characterized in that, according to the brightness matrix and the weight matrix of the two image sensors, when the brightness mean square error of the two image sensors reaches a minimum value, two The respective gain coefficients of the image sensors include: Partition processing is performed on the images of the two image sensors to generate P partitions respectively; P is an integer greater than or equal to 2; According to the brightness matrix and the weight matrix of each partition, respectively calculate the gain coefficients of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value. A gain coefficient acquisition device, characterized in that it is applied to two preset image sensors, and the device includes: a memory and a processor; The memory is used to store program code; The processor is configured to call the program code, and when the program code is executed, to perform the following operations: Acquire the brightness matrices of the two image sensors respectively; and calculate the brightness mean square error of the two image sensors to a minimum value according to the brightness matrices of the two image sensors, respectively Corresponding gain coefficient; wherein the respective gain coefficients of the two sensors are used to determine whether it is necessary to adjust the gain of the two image sensors. The device according to claim 14, wherein: The processor is further configured to determine, according to the respective gain coefficients of the two image sensors, the image sensor to be adjusted that needs gain adjustment among the two image sensors; and according to the corresponding gain of the image sensor to be adjusted Coefficient to adjust the current gain of the image sensor to be adjusted. The device according to claim 15, wherein: The processor is specifically configured to adjust the current gain of the image sensor to be adjusted according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the image sensor to be adjusted. The device according to claim 16, wherein the processor is specifically configured to: perform processing on the to-be-adjusted image sensor according to the gain coefficient corresponding to the image sensor to be adjusted and the previous gain of the Adjust the current gain of the image sensor for adjustment, including: The processor is specifically configured to calculate the current adjustment ratio according to the gain coefficient corresponding to the image sensor to be adjusted; wherein, the adjustment ratio is the current gain of the image sensor to be adjusted and the current gain of the image sensor to be adjusted. The ratio of the first gain; and the product of the current adjustment ratio and the previous gain of the image sensor to be adjusted is used as the target gain, and the current gain of the image sensor to be adjusted is adjusted to the target gain. The device according to any one of claims 14-17, wherein: The processor is specifically configured to calculate the respective gains of the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value when the gains of the two image sensors are adjusted simultaneously coefficient. The device according to any one of claims 15-17, wherein the two image sensors comprise a first image sensor and a second image sensor; The processor is specifically configured to calculate the gain coefficient corresponding to the first image sensor when the brightness mean square error of the two image sensors reaches a minimum value when adjusting the first image sensor; and when adjusting the When the second image sensor is used, the gain coefficient corresponding to the second image sensor when the mean square error of the brightness of the two image sensors reaches a minimum value is calculated. The device according to claim 19, wherein: The processor is specifically configured to determine that the first image sensor is the image sensor to be adjusted when the gain coefficient corresponding to the first image sensor is greater than a preset threshold; when the gain coefficient corresponding to the second image sensor is When the coefficient is greater than the preset threshold, it is determined that the second image sensor is the image sensor to be adjusted. The device according to claim 20, wherein: The processor is specifically configured to determine the first image sensor when the gain coefficient corresponding to the first image sensor is greater than the preset threshold value, and the gain coefficient corresponding to the second image sensor is less than the preset threshold value. The image sensor is the image sensor to be adjusted; when the gain coefficient corresponding to the second image sensor is greater than the preset threshold, and the gain coefficient corresponding to the first image sensor is less than the preset threshold, it is determined that the The second image sensor is the image sensor to be adjusted. The device according to claim 20 or 21, wherein when the gain coefficient corresponding to the first image sensor is greater than the preset threshold, the processor is specifically configured to: The product of the gain coefficient corresponding to the first image sensor and the last adjustment ratio of the first image sensor is used as the current adjustment ratio; according to the current adjustment ratio and the last gain adjustment of the first image sensor The gain of the first image sensor; wherein the adjustment ratio is the ratio of the current gain of the first image sensor to the previous gain of the first image sensor. The device according to claim 20 or 21, wherein when the gain coefficient corresponding to the second image sensor is greater than the preset threshold, the processor is specifically configured to: Divide the last adjustment ratio of the second image sensor and the gain coefficient corresponding to the second image sensor to obtain the current adjustment ratio; and according to the current adjustment ratio and the last gain of the second image sensor Adjust the gain of the second image sensor; wherein the adjustment ratio is the ratio of the current gain of the second image sensor to the previous gain of the second image sensor. The device according to claim 20 or 21, wherein: The processor is further configured to not adjust the first image sensor and the second image sensor when the gain coefficient corresponding to the first image sensor and the gain coefficient corresponding to the second image sensor are both less than a preset threshold. The gain. The device according to any one of claims 14-17, wherein: The processor is specifically configured to calculate, according to the brightness matrix and the weight matrix of the two image sensors, when the brightness mean square error of the two image sensors reaches a minimum value, the two image sensors respectively correspond to Gain factor. The device according to claim 25, wherein the processor is specifically configured to calculate the brightness mean square error of the two image sensors to reach the extreme value according to the brightness matrix and the weight matrix of the two image sensors. When the value is small, the respective gain coefficients of the two image sensors include: The processor is specifically configured to perform partition processing on the images of the two image sensors to generate P partitions respectively; P is an integer greater than or equal to 2; and according to the brightness matrix and the weight matrix of each partition Calculate the gain coefficients corresponding to the two image sensors when the brightness mean square error of the two image sensors reaches a minimum value. A computer storage medium, characterized by comprising a readable storage medium and a computer program, the computer program being used to implement the method for obtaining a gain coefficient according to any one of claims 1-13.

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