CN104111059A - Distance measuring and locating device and method and terminal - Google Patents
Distance measuring and locating device and method and terminal Download PDFInfo
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- CN104111059A CN104111059A CN201410340172.3A CN201410340172A CN104111059A CN 104111059 A CN104111059 A CN 104111059A CN 201410340172 A CN201410340172 A CN 201410340172A CN 104111059 A CN104111059 A CN 104111059A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/18—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with one observation point at each end of the base
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Abstract
The invention provides a distance measuring method for measuring a distance by using two cameras. The distance measuring method comprises the steps: respectively capturing an image of a to-be-measured object by using a first camera and a second camera; respectively obtaining an azimuth angle of an incident ray entering the first camera, of the to-be-measured object at the same place and an azimuth angle of an incident ray entering the second camera, of the to-be-measured object at the same place according to imaging positions of the first camera and the second camera on the to-be-measured place on the to-be-measured object; and calculating a distance between the to-be-measured point of the to-be-measured object and a midpoint of a connecting line between a center point of the first camera and the center point of the second camera according to the azimuth angle of the incident ray entering the first camera, of the to-be-measured place on the to-be-measured object, the azimuth angle of the incident ray entering the second camera, of the to-be-measured place on the to-be-measured object, and the distance between the center point of the first camera and the center point of the second camera. Correspondingly, the invention further provides a distance measuring device and a terminal. The distance measuring method is capable of measuring the distance simply and rapidly by adopting the two cameras.
Description
Technical field
The present invention relates to optical range finding technique field, relate in particular to a kind of device that utilizes dual camera to find range and locate, method and terminal.
Background technology
Along with scientific and technological development, the various personalized functions of terminal, the life that is applied as us bring many facilities, and utilize the camera of terminal to take pictures, recorded video etc. is the basic function that modern terminal all possesses.
In prior art, occurred adopting camera to measure the distance between determinand and camera.Be specifically as follows: mobile terminal is under camera exposal model, the outward flange of target object is continued recognition and tracking, user is by the object-oriented object translation of mobile terminal, mobile terminal, according to the find a view distance of variation and mobile terminal translation of width of the variation of target object display width on screen or mobile terminal screen, calculates the distance between mobile terminal and target object.The process of whole range finding processes based on existing mobile terminal image and motion perception function completes.In above-mentioned distance-finding method, need terminal need to continue tracking target object, and terminal also need to have motion perception function, ranging process is relatively loaded down with trivial details.
Therefore, how to provide a kind of can be simply and the distance measuring equipment of quick distance measurement, method and terminal, be those skilled in the art's technical matterss urgently to be resolved hurrily.
Summary of the invention
The invention provides a kind of distance measuring equipment that adopts dual camera to find range, method and terminal, the problem existing to solve prior art.
To achieve these goals, the invention provides distance measuring equipment, method and the terminal that adopts dual camera to find range.
A distance-finding method that adopts dual camera to find range, comprises step:
Adopt the first camera and second camera to catch respectively the image of determinand;
According to the image space in the first camera and second camera respectively of tested point on determinand, draw the incident ray orientation angles of injecting the first camera of described determinand same point and inject the orientation angles of the incident ray of second camera; And
According to the incident ray orientation angles that is incident to the first camera of tested point on described determinand be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, calculate the distance of line mid point between the central point of described determinand tested point and the first camera and second camera central point.
Wherein, described the first camera comprises the first imaging len and the first photosensitive device, described second camera comprises the second imaging len and the second photosensitive device, the optical axis of described the first camera and the optical axis of second camera are parallel to each other, and the central point of the central point of described the first imaging len and described the second imaging len is positioned at the same plane perpendicular to the first camera optical axis.
Wherein, definition is defined as X-axis through the straight line of the central point of the first imaging len and the central point of the second imaging len, the mid point that defines the central point of the first imaging len and the central point line of the second imaging len is true origin O, on determinand, to be incident to the incident light of the first imaging len central point of the first camera be the first incident ray to tested point, the incident light that is incident to the second imaging len central point of second camera is the second incident ray, the incident ray orientation angles of incident first camera of described determinand tested point is the first incident light and X-axis angulation α, the described orientation angles of injecting the incident ray of second camera is the second incident light and X-axis angulation β.
Wherein, according to the distance between the first incident light and X-axis angulation α, the second incident light and X-axis angulation β and the central point of the first camera and the central point of second camera, calculate the distance of line mid point between the tested point of described determinand and the central point of the first camera and second camera central point.
A distance measuring equipment that adopts dual camera range finding, it comprises:
Photographing module, described photographing module comprises the first camera and second camera, described the first camera and second camera are all for catching the image of measured determinand;
Angle acquisition module, for the position in the image becoming with second camera at the first camera according to tested point on determinand, draw the incident light orientation angles that is incident to the first camera and the orientation angles that is incident to the incident light of second camera of tested point on described determinand; And
Distance calculation module, be used for according to the incident ray orientation angles that is incident to the first camera of described determinand tested point and be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, the distance of line mid point between the central point of calculating determinand tested point and the first camera and second camera central point.
Wherein, described the first camera comprises the first imaging len and the first photosensitive device, described second camera comprises the second imaging len and the second photosensitive device, the optical axis of described the first camera and the optical axis of second camera are parallel to each other, and the central point of the central point of described the first imaging len and described the second imaging len is positioned at the same plane perpendicular to the first camera optical axis.
Wherein, definition is defined as X-axis through the straight line of the central point of the first imaging len and the central point of the second imaging len, the mid point that defines the central point of the first imaging len and the central point line of the second imaging len is true origin O, on determinand, to be incident to the incident light of the first imaging len central point of the first camera be the first incident ray to tested point, the incident light that is incident to the second imaging len central point of second camera is the second incident ray, described angle acquisition module is used for obtaining the first incident light and X-axis angulation α and the second incident light and X-axis angulation β.
Wherein, described distance calculation module, for according to the distance between the first incident light and X-axis angulation α, the second incident light and X-axis angulation β and the central point of the first camera and the central point of second camera, calculates the distance of line mid point between the tested point of described determinand and the central point of the first camera and second camera central point.
A distance ranging terminal that adopts dual camera to find range, described distance ranging terminal comprises described distance measuring equipment.
Wherein, described distance ranging terminal is mobile phone.
The distance measuring equipment that the employing dual camera that the technical program provides is found range, method and terminal, by the position two camera imagings to tested point on determinand, draw the orientation angles of the incident ray incident that is incident to the first camera of tested point on described determinand and be incident to the orientation angles of incident of the incident ray of second camera, according to the distance between the central point of two cameras, and described in be incident to the first camera incident ray incident orientation angles and be incident to the orientation angles of incident of the incident ray of second camera, calculate the distance of the mid point of tested point and two camera central point lines on determinand.The distance measuring equipment that the technical program provides, in measuring process, only needs once to choose the tested point of determinand, does not need the position of fixing camera and determinand, and measuring process and computing method are simple, and can improve the precision of measurement.
Accompanying drawing explanation
The structured flowchart of the distance measuring equipment that Fig. 1 provides for the technical program the first embodiment;
Fig. 2 is the technical program distance measuring equipment and determinand position relationship schematic diagram;
Tested point position relationship schematic diagram in the first camera is become image on the determinand that Fig. 3 is the technical program;
Fig. 4 is the process flow diagram of the distance-finding method that provides of the technical program the second embodiment.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only for explaining the present invention, is not intended to limit the present invention.
Refer to Fig. 1, the first embodiment of the present invention provides a kind of distance measuring equipment 100 that adopts dual camera to find range.Described distance measuring equipment 100 can be applied to the smart machines such as mobile phone, panel computer.
Described distance measuring equipment 100 comprises photographing module 110, angle acquisition module 120 and distance calculation module 130.
The optical axis of described the first camera 111 and second camera 112 is parallel to each other.Described the first camera 111 comprises the first imaging len 1111 and the first photosensitive device 1112, and described second camera 112 comprises the second imaging len and the second photosensitive device.When finding range, the central point of the central point of the first imaging len 1111 and the second imaging len is positioned at same plane.Definition is defined as X-axis through the straight line of the central point of the first imaging len 1111 and the central point of the second imaging len, the mid point that defines the central point of the first imaging len 1111 and the central point line of the second imaging len is true origin O, perpendicular to the optical axis of the first camera and the plane of second camera optical axis, it is XY plane, the direction that is parallel to the optical axis of the first camera and the optical axis of second camera is defined as Z-direction, and described Y-axis and Z axis all pass through true origin O.Preferably, the photosurface of the first photosensitive device 1112 and the second photosensitive device is perpendicular to the optical axis of the first camera.
Described angle acquisition module 120 is for according to the position in the image of the first camera 111 and 112 one-tenth of second cameras respectively of tested point on determinand, draws the incident ray orientation angles that is incident to the first camera of tested point on described determinand and is incident to the orientation angles of the incident ray of second camera.
In present embodiment, described angle acquisition module 120 in the first camera 111 and position in the image becoming in second camera 112, draws incident ray and X-axis angulation that on described determinand, tested point is incident to incident ray and the X-axis angulation of the first camera 111 and is incident to second camera 112 specifically for tested point on determinand.
Concrete, as shown in Figure 2, the incident light that the light of the tested point A reflection that determinand is selected is incident to the first imaging len 1111 central point O1 of the first camera 111 is the first incident ray, the first incident ray after the first imaging len 1111 central point O1 in the first photosensitive device 1112 imagings, can be according to described some A the distance between the position of the first photosensitive device 1112 imagings and the central point O1 of the first imaging len 1111 and the first photosensitive device 1112, can determine the first incident light and the first camera 111 optical axis angulations of the first imaging len 1111 central point O1 that are incident to the first camera 111, also can draw the first incident light and the first photosensitive device 1112 angulations, i.e. the first incident light and XY plane angulation, and then also can draw the first incident light and X-axis angulation α.As shown in Figure 3, imaging point through the incident light of the first imaging len 1111 central point vertical incidence to the first photosensitive devices 1112 is set as C, the first incident light is K in the position of photosensitive device imaging point, according to the distance between the central point of the distance between C point and K point and the first imaging len 1111 and the first photosensitive device 1112, according to trigonometric function relation, can obtain the first incident light and the first photosensitive device 1112 angulations.And according in X-direction, the distance between C point and K point, can calculate the first incident light and X-axis angulation α.
Be understandable that, the incident light that the light of the tested point A reflection that determinand is selected is incident to the second imaging len central point O2 of second camera 112 is the second incident ray, according to identical method, can analyze and obtain the second incident light and X-axis angulation β.
Be understandable that, described angle acquisition module 120 also can obtain the first incident light or the second incident light and XZ plane angulation in the lump, and described the first incident light or the second incident light and XZ plane angulation can be used for determining the tested point of determinand and the position relation of the first camera 111 and second camera 112.
Described distance calculation module 130 is for according to the incident ray orientation angles that is incident to the first camera of tested point on described determinand be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, calculates the distance of line mid point between the central point of determinand tested point and the first camera and second camera central point.Concrete, described distance calculation module 130 can be according to distance, the first incident light and X-axis angulation α between the central point of the first camera 111 and the central point of second camera 112 and the second incident light and X-axis angulation β, the distance between datum point O and determinand tested point A.In present embodiment, set the central point of described first imaging len 1111 in central point position of described the first camera, the central point of described second camera is set as the central point of the second imaging len.
Be understandable that, the first incident light, the second incident light all intersect and form a triangle O1O2A with X-axis, in described triangle O1O2A, the length of O1O2 can be learnt according to the design of smart machine, angle [alpha] and angle beta obtain by angle acquisition module 120, and the distance OA between O and determinand tested point A is the center line of the limit O1O2 of triangle O1O2A.Can calculate the length of O1A or the length of O2A first according to sine, then, in triangle O1OA or triangle OO2A, according to the cosine law, calculate the length of OA.
The distance measuring equipment that the employing dual camera that the technical program provides is found range, by the position two camera imagings to tested point on determinand, draw the orientation angles of the incident ray incident that is incident to the first camera of tested point on described determinand and be incident to the orientation angles of incident of the incident ray of second camera, according to the distance between the central point of two cameras, and described in be incident to the first camera incident ray incident orientation angles and be incident to the orientation angles of incident of the incident ray of second camera, calculate the distance of the mid point of tested point and two camera central point lines on determinand.The distance measuring equipment that the technical program provides, in measuring process, only needs once to choose the tested point of determinand, does not need the position of fixing camera and determinand, and measuring process and computing method are simple, and can improve the precision of measurement.
Refer to Fig. 4, the second embodiment correspondence of the technical program provides a kind of distance-finding method that adopts dual camera to find range, and can adopt described distance measuring equipment 100 to realize, and described distance-finding method comprises step:
S101, adopts the first camera and second camera to catch respectively the image of determinand.
The optical axis of described the first camera 111 and second camera 112 is parallel to each other.Described the first camera 111 comprises the first imaging len 1111 and the first photosensitive device 1112, and described second camera 112 comprises the second imaging len and the second photosensitive device.When finding range, the central point of the central point of the first imaging len 1111 and the second imaging len is positioned at same plane.Definition is defined as X-axis through the straight line of the central point of the first imaging len 1111 and the central point of the second imaging len, the mid point that defines the central point of the first imaging len 1111 and the central point line of the second imaging len is true origin O, perpendicular to the optical axis of the first camera and the plane of second camera optical axis, it is XY plane, the direction that is parallel to the optical axis of the first camera and the optical axis of second camera is defined as Z-direction, and described Y-axis and Z axis all pass through true origin O.Preferably, the photosurface of the first photosensitive device 1112 and the second photosensitive device is perpendicular to the optical axis of the first camera.
S102, according to tested point on determinand, respectively in the first camera 111 and position in the image becoming in second camera 112, draw the incident ray orientation angles that is incident to the first camera of tested point on described determinand and be incident to the orientation angles of the incident ray of second camera.
In present embodiment, described angle acquisition module 120 in the first camera 111 and position in the image becoming in second camera 112, draws incident ray and X-axis angulation that on described determinand, tested point is incident to incident ray and the X-axis angulation of the first camera and is incident to second camera specifically for tested point on determinand.
Concrete, the incident light that the light of the tested point A reflection that determinand is selected is incident to the first imaging len 1111 central point O1 of the first camera 111 is the first incident ray, described the first incident ray after the first imaging len 1111 central point O1 in the first photosensitive device 1112 imagings, can be according to described some A the distance between the position of the first photosensitive device 1112 imagings and the central point O1 of the first imaging len 1111 and the first photosensitive device 1112, can determine the first incident light and the first camera 111 optical axis angulations of the first imaging len 1111 central point O1 that are incident to the first camera 111, also can draw the first incident light and the first photosensitive device 1112 angulations, i.e. the first incident light and XY plane angulation, and then also can draw the first incident light and X-axis angulation α.As shown in Figure 3, through the first imaging len 1111 central point vertical incidence to the imaging point of the incident light of photosensitive device, be set as C, the first incident light is K in the position of the first photosensitive device 1112 imaging points, according to the distance between the central point of the distance between C point and K point and the first imaging len 1111 and the first photosensitive device 1112, according to trigonometric function relation, can obtain the first incident light and the first photosensitive device 1112 angulations.And according in X-direction, the distance between C point and K point, can calculate the first incident light and X-axis angulation α.
Be understandable that, the incident light that the light of the tested point A reflection that determinand is selected is incident to the second imaging len central point O2 of second camera 112 is the second incident ray, according to identical method, can obtain the second incident light and X-axis angulation β.
Be understandable that, in this step, also can calculate in the lump the first incident light or the second incident light and XZ plane angulation, described the first incident light or the second incident light and XZ plane angulation can be used for determining the tested point of determinand and the position relation of the first camera and second camera.
S103, according to the incident ray orientation angles that is incident to the first camera of tested point on described determinand be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, calculate the distance of line mid point between the central point of determinand tested point and the first camera and second camera central point.
Concrete, described distance calculation module 130 can be according to distance, the first incident light and X-axis angulation α between the central point of the first camera 111 and the central point of second camera 112 and the second incident light and X-axis angulation β, the distance between datum point O and determinand tested point A.Be understandable that, the first incident light, the second incident light all intersect and form a triangle O1O2A with X-axis, in described triangle O1O2A, the length of O1O2 can be learnt according to the design of smart machine, angle [alpha] and angle beta obtain by angle acquisition module 120, and the distance OA between O and determinand tested point A is the center line of the limit O1O2 of triangle O1O2A.Can calculate the length of O1A or the length of O2A first according to sine, then, in triangle O1OA or triangle OO2A, according to the cosine law, calculate the length of OA.
The distance-finding method that the employing dual camera that the technical program provides is found range, by the position two camera imagings to tested point on determinand, draw the orientation angles of the incident ray incident that is incident to the first camera of tested point on described determinand and be incident to the orientation angles of incident of the incident ray of second camera, according to the distance between the central point of two cameras, and described in be incident to the first camera incident ray incident orientation angles and be incident to the orientation angles of incident of the incident ray of second camera, calculate the distance of the mid point of tested point and two camera central point lines on determinand.The distance measuring equipment that the technical program provides, in measuring process, only needs once to choose the tested point of determinand, does not need the position of fixing camera and determinand, and measuring process and computing method are simple, and can improve the precision of measurement.
The technical program the 3rd embodiment also provides a kind of distance ranging terminal that adopts dual camera to find range, and described distance ranging terminal comprises the distance measuring equipment that described employing dual camera is found range.Preferably, described distance ranging terminal is mobile phone.Be understandable that, described distance ranging terminal can be also smart camera or panel computer etc.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can complete by hardware, also can come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be ROM (read-only memory), disk or CD etc.
Certainly; the present invention also can have other various embodiments; in the situation that not deviating from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. a distance-finding method that adopts dual camera to find range, comprises step:
Adopt the first camera and second camera to catch respectively the image of determinand;
According to the image space in the first camera and second camera respectively of tested point on determinand, draw the incident ray orientation angles of injecting the first camera of described determinand same point and inject the orientation angles of the incident ray of second camera; And
According to the incident ray orientation angles that is incident to the first camera of tested point on described determinand be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, calculate the distance of line mid point between the central point of described determinand tested point and the first camera and second camera central point.
2. distance-finding method as claimed in claim 1, it is characterized in that, described the first camera comprises the first imaging len and the first photosensitive device, described second camera comprises the second imaging len and the second photosensitive device, the optical axis of described the first camera and the optical axis of second camera are parallel to each other, and the central point of the central point of described the first imaging len and described the second imaging len is positioned at the same plane perpendicular to the first camera optical axis.
3. distance-finding method as claimed in claim 2, it is characterized in that, definition is X-axis through the straight line of the central point of the first imaging len and the central point of the second imaging len, the mid point that defines the central point of the first imaging len and the central point line of the second imaging len is true origin O, on determinand, to be incident to the incident light of the first imaging len central point of the first camera be the first incident ray to tested point, the incident light that is incident to the second imaging len central point of second camera is the second incident ray, the incident ray orientation angles of injecting the first camera of described determinand tested point is the first incident light and X-axis angulation α, the described orientation angles of injecting the incident ray of second camera is the second incident light and X-axis angulation β.
4. distance-finding method as claimed in claim 3, it is characterized in that, according to the distance between the first incident light and X-axis angulation α, described the second incident light and X-axis angulation β and the central point of the first camera and the central point of second camera, calculate the distance of line mid point between the tested point of described determinand and the central point of the first camera and second camera central point.
5. a distance measuring equipment that adopts dual camera range finding, it comprises:
Photographing module, described photographing module comprises the first camera and second camera, described the first camera and second camera are all for catching the image of measured determinand;
Angle acquisition module, for the position in the image becoming with second camera at the first camera respectively according to tested point on determinand, draw the incident light orientation angles that is incident to the first camera and the orientation angles that is incident to the incident light of second camera of tested point on described determinand; And
Distance calculation module, be used for according to the incident ray orientation angles that is incident to the first camera of described determinand tested point and be incident to the orientation angles of incident ray of second camera and the distance between the central point of the first camera and second camera central point, the distance of line mid point between the central point of calculating determinand tested point and the first camera and second camera central point.
6. distance measuring equipment as claimed in claim 5, it is characterized in that, described the first camera comprises the first imaging len and the first photosensitive device, described second camera comprises the second imaging len and the second photosensitive device, the optical axis of described the first camera and the optical axis of second camera are parallel to each other, and the central point of the central point of described the first imaging len and described the second imaging len is positioned at the same plane perpendicular to the first camera optical axis.
7. distance measuring equipment as claimed in claim 6, it is characterized in that, definition is X-axis through the straight line of the central point of the first imaging len and the central point of the second imaging len, the mid point that defines the central point of the first imaging len and the central point line of the second imaging len is true origin O, the incident light that is a bit incident to the first imaging len central point of the first camera on determinand is the first incident ray, the incident light that is incident to the second imaging len central point of second camera is the second incident ray, described angle acquisition module is used for obtaining the first incident light and X-axis angulation α and the second incident light and X-axis angulation β.
8. distance measuring equipment as claimed in claim 7, it is characterized in that, described distance calculation module, for according to the distance between the first incident light and X-axis angulation α, described the second incident light and X-axis angulation β and the central point of the first camera and the central point of second camera, calculates the distance of line mid point between the tested point of described determinand and the central point of the first camera and second camera central point.
9. a distance ranging terminal that adopts dual camera to find range, is characterized in that, described distance ranging terminal comprises the distance measuring equipment as described in claim 5 to 8 any one.
10. distance ranging terminal as claimed in claim 9, is characterized in that, described distance ranging terminal is mobile phone.
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| CN201410340172.3A CN104111059A (en) | 2014-07-16 | 2014-07-16 | Distance measuring and locating device and method and terminal |
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| WO2019134513A1 (en) * | 2018-01-05 | 2019-07-11 | Oppo广东移动通信有限公司 | Shot focusing method, device, storage medium, and electronic device |
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| WO2021073472A1 (en) * | 2019-10-14 | 2021-04-22 | Zhejiang Dahua Technology Co., Ltd. | Positioning systems and methods |
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| CN106813649A (en) * | 2016-12-16 | 2017-06-09 | 北京远特科技股份有限公司 | A kind of method of image ranging localization, device and ADAS |
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