CN104730802B - Calibration, focusing method and the system and dual camera equipment of optical axis included angle - Google Patents
Calibration, focusing method and the system and dual camera equipment of optical axis included angle Download PDFInfo
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- CN104730802B CN104730802B CN201510142411.9A CN201510142411A CN104730802B CN 104730802 B CN104730802 B CN 104730802B CN 201510142411 A CN201510142411 A CN 201510142411A CN 104730802 B CN104730802 B CN 104730802B
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- included angle
- axis included
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/18—Focusing aids
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
-
- 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
Abstract
The invention provides a kind of calibration of optical axis included angle, focusing method and system and dual camera equipment, wherein, calibration method, including：Any feature point of subject is focused, the first object distance value is obtained；Determine first imaging point coordinate value of the characteristic point on first camera；Determine second imaging point coordinate value of the characteristic point on the second camera；The optical axis included angle of the dual camera equipment is determined according to the first coordinate value imaging point coordinate value, the second coordinate value imaging point coordinate value, the parameter of the pre-stored dual camera equipment and the first object distance value and pre-stored optical axis included angle calculation formula.By technical scheme, the self calibration focusing of dual camera equipment is realized.
Description
Technical field
The present invention relates to optical focusing technical field, calibration method and system in particular to a kind of optical axis included angle,
A kind of focusing method and system and a kind of dual camera equipment.
Background technology
In the related art, in order to realize more excellent focus effects in shooting process, dual camera is developed application
In various capture apparatus, after the focusing (characteristic point) that user selects object to be shot, each camera is to this feature point
Be imaged to form two imaging points, according to distance of two imaging points to melatope between the central point of imaging plane with
Equivalent focal length, determines object to be shot to the object distance value of lens plane, and then determine the distance of focus process camera lens movement.
But said process is based on the parallel ideal situation of two optical axises, when capture apparatus because manufacture craft deviation or
When external force is collided and causes light shaft offset, object distance value is being determined according to ideal situation, serious focus error can be caused, influence is used
The shooting effect and usage experience at family.
And after closed loop motor technologies are applied into two-shot technology, although it can realize based on Hall sensor pair
Lens displacement is measured, but can not carry out self-alignment effect to optical axis included angle parameter.
Therefore, how to realize the self-calibration process of the capture apparatus of twin-lens turns into urgently to be resolved hurrily to realize accurately to focus
Technical problem.
The content of the invention
The present invention is based at least one above-mentioned technical problem, it is proposed that a kind of calibration method of optical axis included angle and be
System, a kind of focusing method and system and a kind of dual camera equipment.
In view of this, a kind of embodiment according to the first aspect of the invention, it is proposed that calibration method of optical axis included angle, bag
Include：Any feature point of subject is focused, the first object distance value is obtained；Determine that the characteristic point is taken the photograph described first
As the first imaging point coordinate value on head；Determine second imaging point coordinate value of the characteristic point on the second camera；
According to the first coordinate value imaging point coordinate value, the second coordinate value imaging point coordinate value, pre-stored double shootings
The parameter of head apparatus and the first object distance value and pre-stored optical axis included angle calculation formula determine the dual camera equipment
Optical axis included angle.
The calibration method of optical axis included angle, passes through the first object distance of the first camera of acquisition according to an embodiment of the invention
It is worth, and the optical axis included angle sampled value of dual camera equipment is determined by optical axis included angle calculation formula, completes the calibration of optical axis included angle
Process, improve the calibration efficiency of optical axis included angle, it is to avoid the problems such as focusing that the deviation of optical axis included angle is caused is inaccurate, lifting
The usage experience of user.
Specifically, it is determined that the first coordinate system (wherein, y-axis of the first coordinate system by origin of the mirror heart of the first camera
Perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of a second camera is the second of origin
Coordinate system (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle
Calculation formula be between difference, the parameter of dual camera (equivalent focal length and the mirror heart distance etc.), optical axis included angle and object distance value etc.
Formula relation, wherein, imaging point difference is two imaging points to the difference between the distance value of corresponding y-axis, further,
Multipass difference is obtained after multiple optical axis included angle sampled values, is calculated its weighted average as optical axis included angle, is improved optical axis
The accuracy rate of angle calibration.
In addition, the parameter of dual camera equipment can store in a register, or in the memory cell of microprocessor, with
Ensure the quick calculating for reading above-mentioned parameter progress optical axis included angle, meanwhile, can be using single to the acquisition process of the first object distance value
Camera focusing method, is such as obtained to defocused object distance value using closed loop motor, it is ensured that the accuracy of object distance value and corrected
The reliability of journey.
According to one embodiment of present invention, it is preferable that obtain the first object distance value, including step in detail below：Obtain pre-
The lens displacement value of storage and the first mapping table of object distance value, wherein, the object distance value includes first camera
Second object distance value of the first object distance value and the second camera；The lens displacement value pair is obtained by first mapping table
The the first object distance value answered.
The calibration method of optical axis included angle according to an embodiment of the invention, can by obtaining lens displacement value and mapping table
With quick obtaining the first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves calibration
The efficiency of process, specifically, can pass through closed loop motor quick obtaining camera lens after focusing by installing closure motor to realize
Shift value.
According to one embodiment of present invention, it is preferable that before being focused to any feature of subject point,
Also include step in detail below：The parameter of the dual camera equipment is stored, wherein, the parameter is set including the dual camera
Mirror heart distance between standby equivalent focal length value and the first camera central point and the second camera central point.
The calibration method of optical axis included angle according to an embodiment of the invention, by storing equivalent focal length value and mirror heart distance etc.
Above-mentioned parameter, can be directly used in the calculating of optical axis included angle by parameter, so effectively improve calibration optical axis included angle efficiency and
Accuracy rate.
According to one embodiment of present invention, it is preferable that the first imaging point coordinate value is characterized with x1, institute is characterized with x2
The second imaging point coordinate value is stated, the object distance value is characterized with L, the parameter of the dual camera equipment is including the mirror heart is apart from d and waits
Focal length value f is imitated, then the optical axis included angle calculation formula, is specifically included：
The calibration method of optical axis included angle, creates above-mentioned optical axis by optical geometry and presss from both sides according to an embodiment of the invention
Angle calculation formula, specifically, passes through the similarity relation between the triangle where the triangle and imaging point where characteristic point, wound
Above-mentioned optical axis included angle calculation formula has been built, namely optical axis included angle sampled value is determined by imaging point, further, by many
The secondary focusing to characteristic point, obtains weighted average of optical axis included angle sampled value etc., and the computational accuracy for more meeting optical axis included angle will
Ask.
According to one embodiment of present invention, it is preferable that determine the optical axis included angle of the dual camera equipment, it is including following
Specific steps：Calculate the weighted average of the optical axis included angle sampled value of whole characteristic points；The weighted average is stored
Into the microprocessor of the dual camera equipment, using the optical axis included angle as the dual camera equipment.
The calibration method of optical axis included angle according to an embodiment of the invention, by calculate the optical axis included angle sampled value plus
Weight average value reduces the error in calibration process as optical axis included angle, improves the degree of accuracy of the calibration of optical axis included angle.
According to one embodiment of present invention, it is preferable that also include：It is determined that after the optical axis included angle, with described second
Difference between imaging point coordinate value and the first imaging point coordinate value passes through the optical axis included angle meter as imaging point difference
Calculate the second mapping table between the formula establishment imaging point difference and the object distance value.
The calibration method of optical axis included angle, is dual camera by creating the second mapping table according to an embodiment of the invention
The actual focus process of equipment provides data foundation, specifically, and by the continuous amendment to optical axis included angle, in time to the
Two mapping tables are modified, can be quick to determine object distance value and then complete in actual focus process, by the difference of imaging point
Into focus process.
A kind of embodiment according to the second aspect of the invention, it is proposed that focusing method, including：Obtain appointing for subject
Threeth imaging point coordinate value of one characteristic point on the first camera；Obtain of the characteristic point on the second camera
Four imaging point coordinate values；The imaging point is used as using the difference of the 4th imaging point coordinate value and the 3rd imaging point coordinate value
Difference, the second object distance value is determined according to the optical axis included angle of the imaging point difference, calibration；According to second object distance
Value and first mapping table determine the lens displacement value, to complete to focus for the first time.
Focusing method, is mapped by creating the calibration between image distance value and calibration shift value according to an embodiment of the invention
Table, the calibration shift value of second camera can be directly determined according to image distance value, the process of calculating is reduced, wherein, to light
After axle clamp angle is calibrated, according to optical axis included angle and above-mentioned calculation formula, by repeatedly measuring image distance value, calibration can be created and reflected
Firing table, and then in actual focus process, it is only necessary to obtain image distance value, you can the quick calibration displacement for determining second camera
Value.
According to one embodiment of present invention, it is preferable that true according to the optical axis included angle of the imaging point difference, calibration
The fixed second object distance value, including step in detail below：By the imaging point difference, the optical axis included angle of calibration and double shootings
The parameter of head apparatus substitutes into the optical axis included angle calculation formula, to obtain the second object distance value.
Focusing method, the second object distance value is obtained by optical axis included angle calculation formula according to an embodiment of the invention, is improved
The degree of accuracy of the focusing of second camera, specifically, after being calibrated to optical axis included angle, calculates public according to optical axis included angle
Formula, is substituted into by the parameter of the average value of the difference by imaging point is repeatedly measured, the optical axis included angle of calibration and dual camera equipment
Optical axis included angle calculation formula, can accurately obtain the object distance value of second camera, and quick according to object distance value and the second mapping table
Determine the calibration shift value of second camera.
According to one embodiment of present invention, it is preferable that true according to the optical axis included angle of the imaging point difference, calibration
Second object distance value of the fixed second camera, including step in detail below：Reflected according to the imaging point difference and described second
Firing table determines the corresponding second object distance value of the imaging point difference.
Focusing method, passes through the second object distance value of acquisition and the lens displacement of second camera according to an embodiment of the invention
The mapping relations of value, improve the focusing efficiency and accuracy rate of second camera, control second camera is according to lens displacement value
Complete focus process.
According to one embodiment of present invention, it is preferable that also include：Complete for the first time to defocused, using contrast pair
Burnt method or phase focusing method completes second and focused.
Focusing method, by completing for the first time to defocused, carries out second and focuses, realize according to an embodiment of the invention
More accurately focus effects, wherein, by the way of contrast is focused changed according to the contrast of focal point picture, found
Lens location when contrast is maximum, that is, the position accurately focused, and phase focusing method is in focus exact position
When, phase detection can accurately be known current in focus state.
A kind of embodiment according to the third aspect of the invention we, it is proposed that calibration system of optical axis included angle, including：Obtain single
Member, focuses for any feature point to subject, obtains the first object distance value；Determining unit, it is described for determining
First imaging point coordinate value of the characteristic point on first camera；The determining unit is additionally operable to, and determines the characteristic point
The second imaging point coordinate value on the second camera；The determining unit is additionally operable to, according to first coordinate value into
Picpointed coordinate value, the second coordinate value imaging point coordinate value, the parameter of the pre-stored dual camera equipment and described
One object distance value and pre-stored optical axis included angle calculation formula determine the optical axis included angle of the dual camera equipment.
The calibration system of optical axis included angle, passes through the first object distance of the first camera of acquisition according to an embodiment of the invention
It is worth, and the optical axis included angle sampled value of dual camera equipment is determined by optical axis included angle calculation formula, completes the calibration of optical axis included angle
Process, improve the calibration efficiency of optical axis included angle, it is to avoid the problems such as focusing that the deviation of optical axis included angle is caused is inaccurate, lifting
The usage experience of user.
Specifically, it is determined that the first coordinate system (wherein, y-axis of the first coordinate system by origin of the mirror heart of the first camera
Perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of a second camera is the second of origin
Coordinate system (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle
Calculation formula be between difference, the parameter of dual camera (equivalent focal length and the mirror heart distance etc.), optical axis included angle and object distance value etc.
Formula relation, wherein, imaging point difference is two imaging points to the difference between the distance value of corresponding y-axis, further,
Multipass difference is obtained after multiple optical axis included angle sampled values, is calculated its weighted average as optical axis included angle, is improved optical axis
The accuracy rate of angle calibration.
In addition, the parameter of dual camera equipment can store in a register, or in the memory cell of microprocessor, with
Ensure the quick calculating for reading above-mentioned parameter progress optical axis included angle, meanwhile, can be using single to the acquisition process of the first object distance value
Camera focusing method, is such as obtained to defocused object distance value using closed loop motor, it is ensured that the accuracy of object distance value and corrected
The reliability of journey.
According to one embodiment of present invention, it is preferable that the acquiring unit is additionally operable to, the pre-stored camera lens is obtained
First mapping table of shift value and object distance value, wherein, the object distance value includes the first object distance value and the institute of first camera
State the second object distance value of second camera；And for obtaining the corresponding institute of the lens displacement value by first mapping table
State the first object distance value.
The calibration system of optical axis included angle according to an embodiment of the invention, can by obtaining lens displacement value and mapping table
With quick obtaining the first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves calibration
The efficiency of process, specifically, can pass through closed loop motor quick obtaining camera lens after focusing by installing closure motor to realize
Shift value.
According to one embodiment of present invention, it is preferable that also include：Memory cell, sets for storing the dual camera
Standby parameter, wherein, the parameter includes the equivalent focal length value and the first camera central point of the dual camera equipment
Mirror heart distance between the second camera central point.
The calibration system of optical axis included angle according to an embodiment of the invention, by storing equivalent focal length value and mirror heart distance etc.
Above-mentioned parameter, can be directly used in the calculating of optical axis included angle by parameter, so effectively improve calibration optical axis included angle efficiency and
Accuracy rate.
According to one embodiment of present invention, it is preferable that the first imaging point coordinate value is characterized with x1, institute is characterized with x2
The second imaging point coordinate value is stated, the object distance value is characterized with L, the parameter of the dual camera equipment is including the mirror heart is apart from d and waits
Focal length value f is imitated, then the optical axis included angle calculation formula, is specifically included：
The calibration system of optical axis included angle, creates above-mentioned optical axis by optical geometry and presss from both sides according to an embodiment of the invention
Angle calculation formula, specifically, passes through the similarity relation between the triangle where the triangle and imaging point where characteristic point, wound
Above-mentioned optical axis included angle calculation formula has been built, namely optical axis included angle sampled value is determined by imaging point, further, by many
The secondary focusing to characteristic point, obtains weighted average of optical axis included angle sampled value etc., and the computational accuracy for more meeting optical axis included angle will
Ask.
According to one embodiment of present invention, it is preferable that also include：Computing unit, for calculating whole characteristic points
Optical axis included angle sampled value weighted average；The memory cell is additionally operable to, and the weighted average is stored to described double
In the microprocessor of camera device, using the optical axis included angle as the dual camera equipment.
The calibration system of optical axis included angle according to an embodiment of the invention, by calculate the optical axis included angle sampled value plus
Weight average value reduces the error in calibration process as optical axis included angle, improves the degree of accuracy of the calibration of optical axis included angle.
According to one embodiment of present invention, it is preferable that also include：Creating unit, for it is determined that the optical axis included angle
Afterwards, using the difference between the second imaging point coordinate value and the first imaging point coordinate value as imaging point difference, pass through
The optical axis included angle calculation formula creates the second mapping table between the imaging point difference and the object distance value.
The calibration system of optical axis included angle, is dual camera by creating the second mapping table according to an embodiment of the invention
The actual focus process of equipment provides data foundation, specifically, and by the continuous amendment to optical axis included angle, in time to the
Two mapping tables are modified, can be quick to determine object distance value and then complete in actual focus process, by the difference of imaging point
Into focus process.
A kind of embodiment according to the fourth aspect of the invention, it is proposed that focusing system, including：Acquiring unit, for obtaining
Take threeth imaging point coordinate value of any feature o'clock of subject on the first camera；The acquiring unit is additionally operable to, and is obtained
Take fourth imaging point coordinate value of the characteristic point on the second camera；The focusing system, in addition to：It is determined that single
Member, for being used as the imaging point difference, root using the difference of the 4th imaging point coordinate value and the 3rd imaging point coordinate value
The second object distance value is determined according to the optical axis included angle of the imaging point difference, calibration；Focus unit, for according to described the
Two object distance values and first mapping table determine the lens displacement value, to complete to focus for the first time.
Focusing system, is mapped by creating the calibration between image distance value and calibration shift value according to an embodiment of the invention
Table, the calibration shift value of second camera can be directly determined according to image distance value, the process of calculating is reduced, wherein, to light
After axle clamp angle is calibrated, according to optical axis included angle and above-mentioned calculation formula, by repeatedly measuring image distance value, calibration can be created and reflected
Firing table, and then in actual focus process, it is only necessary to obtain image distance value, you can the quick calibration displacement for determining second camera
Value.
According to one embodiment of present invention, it is preferable that the determining unit is additionally operable to, by the imaging point difference, school
Accurate optical axis included angle and the parameter of the dual camera equipment substitute into the optical axis included angle calculation formula, to obtain second thing
Away from value.
Focusing system, the second object distance value is obtained by optical axis included angle calculation formula according to an embodiment of the invention, is improved
The degree of accuracy of the focusing of second camera, specifically, after being calibrated to optical axis included angle, calculates public according to optical axis included angle
Formula, is substituted into by the parameter of the average value of the difference by imaging point is repeatedly measured, the optical axis included angle of calibration and dual camera equipment
Optical axis included angle calculation formula, can accurately obtain the object distance value of second camera, and quick according to object distance value and the second mapping table
Determine the calibration shift value of second camera.
According to one embodiment of present invention, it is preferable that the determining unit is additionally operable to, according to the imaging point difference and
Second mapping table determines the corresponding second object distance value of the imaging point difference.
Focusing system, passes through the second object distance value of acquisition and the lens displacement of second camera according to an embodiment of the invention
The mapping relations of value, improve the focusing efficiency and accuracy rate of second camera, control second camera is according to lens displacement value
Complete focus process.
According to one embodiment of present invention, it is preferable that the focusing unit is additionally operable to, and is completed for the first time to defocused,
Second is completed using contrast focusing method or phase focusing method to focus.
Focusing system, by completing for the first time to defocused, carries out second and focuses, realize according to an embodiment of the invention
More accurately focus effects, wherein, by the way of contrast is focused changed according to the contrast of focal point picture, found
Lens location when contrast is maximum, that is, the position accurately focused, and phase focusing method is in focus exact position
When, phase detection can accurately be known current in focus state.
A kind of embodiment according to the fifth aspect of the invention, it is proposed that dual camera equipment, including：Any one of as described above
The calibration system of optical axis included angle described in technical scheme or the as described above focusing system described in any one technical scheme.
Pass through above technical scheme, it is possible to achieve rapid focus and precisely focusing, meanwhile, realize to dual camera equipment
Optical axis included angle self calibration, it is to avoid the focus errors caused by the deviation of optical axis included angle, improve user in shooting process
Usage experience.
Brief description of the drawings
Fig. 1 shows the schematic flow diagram of the calibration method of optical axis included angle according to an embodiment of the invention；
Fig. 2 shows the schematic flow diagram of focusing method according to an embodiment of the invention；
Fig. 3 shows the schematic block diagram of the calibration system of optical axis included angle according to an embodiment of the invention；
Fig. 4 shows the schematic block diagram of focusing system according to an embodiment of the invention；
Fig. 5 shows the schematic block diagram of dual camera equipment according to an embodiment of the invention；
Fig. 6 shows the coordinate system schematic diagram of dual camera equipment according to an embodiment of the invention；
Fig. 7 shows the light path schematic diagram of capture apparatus according to an embodiment of the invention (optical axis included angle is zero)；
Fig. 8 shows the light path schematic diagram of capture apparatus according to an embodiment of the invention (optical axis deflects)；
Fig. 9 show capture apparatus according to an embodiment of the invention light path schematic diagram (；Two optical axises deflect).
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Fig. 1 shows the schematic flow diagram of the calibration method of optical axis included angle according to an embodiment of the invention.
As shown in figure 1, the calibration method of optical axis included angle according to an embodiment of the invention, including：Step 102, it is right
Any feature point of subject is focused, and obtains the first object distance value；Step 104, determine the characteristic point described
The first imaging point coordinate value on one camera；Step 106, the second one-tenth of the characteristic point on the second camera is determined
Picpointed coordinate value；Step 108, according to the first coordinate value imaging point coordinate value, the second coordinate value imaging point coordinate value,
The parameter and the first object distance value of the pre-stored dual camera equipment and pre-stored optical axis included angle calculation formula are determined
The optical axis included angle of the dual camera equipment.
The calibration method of optical axis included angle, passes through the first object distance of the first camera of acquisition according to an embodiment of the invention
It is worth, and the optical axis included angle sampled value of dual camera equipment is determined by optical axis included angle calculation formula, completes the calibration of optical axis included angle
Process, improve the calibration efficiency of optical axis included angle, it is to avoid the problems such as focusing that the deviation of optical axis included angle is caused is inaccurate, lifting
The usage experience of user.
Specifically, it is determined that the first coordinate system (wherein, y-axis of the first coordinate system by origin of the mirror heart of the first camera
Perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of a second camera is the second of origin
Coordinate system (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle
Calculation formula be between difference, the parameter of dual camera (equivalent focal length and the mirror heart distance etc.), optical axis included angle and object distance value etc.
Formula relation, wherein, imaging point difference is two imaging points to the difference between the distance value of corresponding y-axis, further,
Multipass difference is obtained after multiple optical axis included angle sampled values, is calculated its weighted average as optical axis included angle, is improved optical axis
The accuracy rate of angle calibration.
In addition, the parameter of dual camera equipment can store in a register, or in the memory cell of microprocessor, with
Ensure the quick calculating for reading above-mentioned parameter progress optical axis included angle, meanwhile, can be using single to the acquisition process of the first object distance value
Camera focusing method, is such as obtained to defocused object distance value using closed loop motor, it is ensured that the accuracy of object distance value and corrected
The reliability of journey.
According to one embodiment of present invention, it is preferable that obtain the first object distance value, including step in detail below：Obtain pre-
The lens displacement value of storage and the first mapping table of object distance value, wherein, the object distance value includes first camera
Second object distance value of the first object distance value and the second camera；The lens displacement value pair is obtained by first mapping table
The the first object distance value answered.
The calibration method of optical axis included angle according to an embodiment of the invention, can by obtaining lens displacement value and mapping table
With quick obtaining the first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves calibration
The efficiency of process, specifically, can pass through closed loop motor quick obtaining camera lens after focusing by installing closure motor to realize
Shift value.
According to one embodiment of present invention, it is preferable that before being focused to any feature of subject point,
Also include step in detail below：The parameter of the dual camera equipment is stored, wherein, the parameter is set including the dual camera
Mirror heart distance between standby equivalent focal length value and the first camera central point and the second camera central point.
The calibration method of optical axis included angle according to an embodiment of the invention, by storing equivalent focal length value and mirror heart distance etc.
Above-mentioned parameter, can be directly used in the calculating of optical axis included angle by parameter, so effectively improve calibration optical axis included angle efficiency and
Accuracy rate.
According to one embodiment of present invention, it is preferable that the first imaging point coordinate value is characterized with x1, institute is characterized with x2
The second imaging point coordinate value is stated, the object distance value is characterized with L, the parameter of the dual camera equipment is including the mirror heart is apart from d and waits
Focal length value f is imitated, then the optical axis included angle calculation formula, is specifically included：
The calibration method of optical axis included angle, creates above-mentioned optical axis by optical geometry and presss from both sides according to an embodiment of the invention
Angle calculation formula, specifically, passes through the similarity relation between the triangle where the triangle and imaging point where characteristic point, wound
Above-mentioned optical axis included angle calculation formula has been built, namely optical axis included angle sampled value is determined by imaging point, further, by many
The secondary focusing to characteristic point, obtains weighted average of optical axis included angle sampled value etc., and the computational accuracy for more meeting optical axis included angle will
Ask.
According to one embodiment of present invention, it is preferable that determine the optical axis included angle of the dual camera equipment, it is including following
Specific steps：Calculate the weighted average of the optical axis included angle sampled value of whole characteristic points；The weighted average is stored
Into the microprocessor of the dual camera equipment, using the optical axis included angle as the dual camera equipment.
The calibration method of optical axis included angle according to an embodiment of the invention, by calculate the optical axis included angle sampled value plus
Weight average value reduces the error in calibration process as optical axis included angle, improves the degree of accuracy of the calibration of optical axis included angle.
According to one embodiment of present invention, it is preferable that also include：It is determined that after the optical axis included angle, with described second
Difference between imaging point coordinate value and the first imaging point coordinate value passes through the optical axis included angle meter as imaging point difference
Calculate the second mapping table between the formula establishment imaging point difference and the object distance value.
The calibration method of optical axis included angle, is dual camera by creating the second mapping table according to an embodiment of the invention
The actual focus process of equipment provides data foundation, specifically, and by the continuous amendment to optical axis included angle, in time to the
Two mapping tables are modified, can be quick to determine object distance value and then complete in actual focus process, by the difference of imaging point
Into focus process.
Fig. 2 shows the schematic flow diagram of focusing method according to an embodiment of the invention.
As shown in Fig. 2 focusing method according to an embodiment of the invention, including：Step 202, subject is obtained
Threeth imaging point coordinate value of any feature o'clock on the first camera；Step 204, the characteristic point is obtained described second
The 4th imaging point coordinate value on camera；Step 206, with the 4th imaging point coordinate value and the described 3rd imaging point coordinates
The difference of value determines second thing as the imaging point difference according to the optical axis included angle of the imaging point difference, calibration
Away from value；Step 208, the lens displacement value is determined according to the second object distance value and first mapping table, to complete first
Secondary focusing.
Focusing method, is mapped by creating the calibration between image distance value and calibration shift value according to an embodiment of the invention
Table, the calibration shift value of second camera can be directly determined according to image distance value, the process of calculating is reduced, wherein, to light
After axle clamp angle is calibrated, according to optical axis included angle and above-mentioned calculation formula, by repeatedly measuring image distance value, calibration can be created and reflected
Firing table, and then in actual focus process, it is only necessary to obtain image distance value, you can the quick calibration displacement for determining second camera
Value.
According to one embodiment of present invention, it is preferable that true according to the optical axis included angle of the imaging point difference, calibration
The fixed second object distance value, including step in detail below：By the imaging point difference, the optical axis included angle of calibration and double shootings
The parameter of head apparatus substitutes into the optical axis included angle calculation formula, to obtain the second object distance value.
Focusing method, the second object distance value is obtained by optical axis included angle calculation formula according to an embodiment of the invention, is improved
The degree of accuracy of the focusing of second camera, specifically, after being calibrated to optical axis included angle, calculates public according to optical axis included angle
Formula, is substituted into by the parameter of the average value of the difference by imaging point is repeatedly measured, the optical axis included angle of calibration and dual camera equipment
Optical axis included angle calculation formula, can accurately obtain the object distance value of second camera, and quick according to object distance value and the second mapping table
Determine the calibration shift value of second camera.
According to one embodiment of present invention, it is preferable that true according to the optical axis included angle of the imaging point difference, calibration
Second object distance value of the fixed second camera, including step in detail below：Reflected according to the imaging point difference and described second
Firing table determines the corresponding second object distance value of the imaging point difference.
Focusing method, passes through the second object distance value of acquisition and the lens displacement of second camera according to an embodiment of the invention
The mapping relations of value, improve the focusing efficiency and accuracy rate of second camera, control second camera is according to lens displacement value
Complete focus process.
According to one embodiment of present invention, it is preferable that also include：Complete for the first time to defocused, using contrast pair
Burnt method or phase focusing method completes second and focused.
Focusing method, by completing for the first time to defocused, carries out second and focuses, realize according to an embodiment of the invention
More accurately focus effects, wherein, by the way of contrast is focused changed according to the contrast of focal point picture, found
Lens location when contrast is maximum, that is, the position accurately focused, and phase focusing method is in focus exact position
When, phase detection can accurately be known current in focus state.
Fig. 3 shows the schematic block diagram of the calibration system of optical axis included angle according to an embodiment of the invention.
As shown in figure 3, the calibration system 300 of optical axis included angle according to an embodiment of the invention, including：Acquiring unit
302, focused for any feature point to subject, obtain the first object distance value；Determining unit 304, for determining
First imaging point coordinate value of the characteristic point on first camera；The determining unit 304 is additionally operable to, it is determined that described
Second imaging point coordinate value of the characteristic point on the second camera；The determining unit 304 is additionally operable to, according to described first
Coordinate value imaging point coordinate value, the second coordinate value imaging point coordinate value, the parameter of the pre-stored dual camera equipment
The optical axis included angle of the dual camera equipment is determined with the first object distance value and pre-stored optical axis included angle calculation formula.
The calibration system of optical axis included angle, passes through the first object distance of the first camera of acquisition according to an embodiment of the invention
It is worth, and the optical axis included angle sampled value of dual camera equipment is determined by optical axis included angle calculation formula, completes the calibration of optical axis included angle
Process, improve the calibration efficiency of optical axis included angle, it is to avoid the problems such as focusing that the deviation of optical axis included angle is caused is inaccurate, lifting
The usage experience of user.
Specifically, it is determined that the first coordinate system (wherein, y-axis of the first coordinate system by origin of the mirror heart of the first camera
Perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of a second camera is the second of origin
Coordinate system (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle
Calculation formula be between difference, the parameter of dual camera (equivalent focal length and the mirror heart distance etc.), optical axis included angle and object distance value etc.
Formula relation, wherein, imaging point difference is two imaging points to the difference between the distance value of corresponding y-axis, further,
Multipass difference is obtained after multiple optical axis included angle sampled values, is calculated its weighted average as optical axis included angle, is improved optical axis
The accuracy rate of angle calibration.
In addition, the parameter of dual camera equipment can store in a register, or in the memory cell of microprocessor, with
Ensure the quick calculating for reading above-mentioned parameter progress optical axis included angle, meanwhile, can be using single to the acquisition process of the first object distance value
Camera focusing method, is such as obtained to defocused object distance value using closed loop motor, it is ensured that the accuracy of object distance value and corrected
The reliability of journey.
According to one embodiment of present invention, it is preferable that the acquiring unit 302 is additionally operable to, what acquisition was pre-stored is described
First mapping table of lens displacement value and object distance value, wherein, the object distance value includes the first object distance value of first camera
With the second object distance value of the second camera；And for obtaining the lens displacement value correspondence by first mapping table
The first object distance value.
The calibration system of optical axis included angle according to an embodiment of the invention, can by obtaining lens displacement value and mapping table
With quick obtaining the first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves calibration
The efficiency of process, specifically, can pass through closed loop motor quick obtaining camera lens after focusing by installing closure motor to realize
Shift value.
According to one embodiment of present invention, it is preferable that also include：Memory cell 306, for storing the dual camera
The parameter of equipment, wherein, the parameter includes the equivalent focal length value of the dual camera equipment and the first camera center
Mirror heart distance between point and the second camera central point.
The calibration system of optical axis included angle according to an embodiment of the invention, by storing equivalent focal length value and mirror heart distance etc.
Above-mentioned parameter, can be directly used in the calculating of optical axis included angle by parameter, so effectively improve calibration optical axis included angle efficiency and
Accuracy rate.
According to one embodiment of present invention, it is preferable that the first imaging point coordinate value is characterized with x1, institute is characterized with x2
The second imaging point coordinate value is stated, the object distance value is characterized with L, the parameter of the dual camera equipment is including the mirror heart is apart from d and waits
Focal length value f is imitated, then the optical axis included angle calculation formula, is specifically included：
The calibration system of optical axis included angle, creates above-mentioned optical axis by optical geometry and presss from both sides according to an embodiment of the invention
Angle calculation formula, specifically, passes through the similarity relation between the triangle where the triangle and imaging point where characteristic point, wound
Above-mentioned optical axis included angle calculation formula has been built, namely optical axis included angle sampled value is determined by imaging point, further, by many
The secondary focusing to characteristic point, obtains weighted average of optical axis included angle sampled value etc., and the computational accuracy for more meeting optical axis included angle will
Ask.
According to one embodiment of present invention, it is preferable that also include：Computing unit 308, for calculating whole features
The weighted average of the optical axis included angle sampled value of point；The memory cell 306 is additionally operable to, and the weighted average is stored to institute
In the microprocessor for stating dual camera equipment, using the optical axis included angle as the dual camera equipment.
The calibration system of optical axis included angle according to an embodiment of the invention, by calculate the optical axis included angle sampled value plus
Weight average value reduces the error in calibration process as optical axis included angle, improves the degree of accuracy of the calibration of optical axis included angle.
According to one embodiment of present invention, it is preferable that also include：Creating unit 310, for it is determined that the optical axis is pressed from both sides
Behind angle, using the difference between the second imaging point coordinate value and the first imaging point coordinate value as imaging point difference, lead to
The second mapping table crossed between the optical axis included angle calculation formula establishment imaging point difference and the object distance value.
The calibration system of optical axis included angle, is dual camera by creating the second mapping table according to an embodiment of the invention
The actual focus process of equipment provides data foundation, specifically, and by the continuous amendment to optical axis included angle, in time to the
Two mapping tables are modified, can be quick to determine object distance value and then complete in actual focus process, by the difference of imaging point
Into focus process.
A kind of embodiment according to the fourth aspect of the invention, it is proposed that focusing system 400, including：Acquiring unit 402,
For obtaining threeth imaging point coordinate value of any feature o'clock of subject on the first camera；The acquiring unit 402
It is additionally operable to, obtains fourth imaging point coordinate value of the characteristic point on the second camera；The focusing system 400, also
Including：Determining unit 404, for using the difference of the 4th imaging point coordinate value and the 3rd imaging point coordinate value as described
Imaging point difference, the second object distance value is determined according to the optical axis included angle of the imaging point difference, calibration；Focusing unit
406, it is right for the first time to complete for determining the lens displacement value according to the second object distance value and first mapping table
It is burnt.
Focusing system, is mapped by creating the calibration between image distance value and calibration shift value according to an embodiment of the invention
Table, the calibration shift value of second camera can be directly determined according to image distance value, the process of calculating is reduced, wherein, to light
After axle clamp angle is calibrated, according to optical axis included angle and above-mentioned calculation formula, by repeatedly measuring image distance value, calibration can be created and reflected
Firing table, and then in actual focus process, it is only necessary to obtain image distance value, you can the quick calibration displacement for determining second camera
Value.
According to one embodiment of present invention, it is preferable that the determining unit 404 is additionally operable to, by the imaging point difference,
The parameter of the optical axis included angle of calibration and the dual camera equipment substitutes into the optical axis included angle calculation formula, to obtain described second
Object distance value.
Focusing system, the second object distance value is obtained by optical axis included angle calculation formula according to an embodiment of the invention, is improved
The degree of accuracy of the focusing of second camera, specifically, after being calibrated to optical axis included angle, calculates public according to optical axis included angle
Formula, is substituted into by the parameter of the average value of the difference by imaging point is repeatedly measured, the optical axis included angle of calibration and dual camera equipment
Optical axis included angle calculation formula, can accurately obtain the object distance value of second camera, and quick according to object distance value and the second mapping table
Determine the calibration shift value of second camera.
According to one embodiment of present invention, it is preferable that the determining unit 404 is additionally operable to, poor according to the imaging point
Value and second mapping table determine the corresponding second object distance value of the imaging point difference.
Focusing system, passes through the second object distance value of acquisition and the lens displacement of second camera according to an embodiment of the invention
The mapping relations of value, improve the focusing efficiency and accuracy rate of second camera, control second camera is according to lens displacement value
Complete focus process.
According to one embodiment of present invention, it is preferable that the focusing unit 406 is additionally operable to, complete to focus for the first time
Afterwards, second is completed using contrast focusing method or phase focusing method to focus.
Focusing system, by completing for the first time to defocused, carries out second and focuses, realize according to an embodiment of the invention
More accurately focus effects, wherein, by the way of contrast is focused changed according to the contrast of focal point picture, found
Lens location when contrast is maximum, that is, the position accurately focused, and phase focusing method is in focus exact position
When, phase detection can accurately be known current in focus state.
Fig. 5 shows the schematic block diagram of dual camera equipment according to an embodiment of the invention.
As shown in figure 5, dual camera equipment 500 according to an embodiment of the invention, including：Any one of as described above skill
The calibration system 300 of optical axis included angle described in art scheme or the as described above focusing system 400 described in any one technical scheme.
With reference to Fig. 1 to Fig. 9, the focus process to capture apparatus according to an embodiment of the invention is carried out specifically
It is bright.
Two groups of mapping tables can be exported after closed loop motor and the camera lens adaptation of dual camera equipment, wherein, one group is object distance value
With the mapping table (table 1) of lens displacement, the mapping table (table 2) of another group of displacement and lens displacement.
As shown in fig. 6, determining the first coordinate system (wherein, y-axis of the first coordinate system using the mirror heart of camera 1 as origin
Perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of camera 2 is the second coordinate system of origin
(wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface), for optical axis 1 and light
The parameters of the angle calcu-lation formula of axle 2, are the numerical value measured in corresponding coordinate system.
Table 1
| Object Distance(m) | Lens Shift(mm) |
| ∞ | 0.000 |
| 10.0 | -0.001 |
| 5.0 | -0.003 |
| 4.0 | -0.004 |
| 3.0 | -0.005 |
| 2.0 | -0.007 |
| 1.9 | -0.008 |
| 1.8 | -0.008 |
| 1.7 | -0.009 |
| 1.6 | -0.009 |
| 1.5 | -0.010 |
| 1.4 | -0.010 |
| 1.3 | -0.011 |
| 1.2 | -0.012 |
| 1.1 | -0.013 |
| 1.0 | -0.015 |
| 0.9 | -0.016 |
| 0.8 | -0.018 |
| 0.7 | -0.021 |
| 0.6 | -0.024 |
| 0.5 | -0.029 |
| 0.45 | -0.033 |
| 0.40 | -0.037 |
| 0.35 | -0.042 |
| 0.30 | -0.049 |
| 0.25 | -0.059 |
| 0.20 | -0.074 |
| 0.15 | -0.099 |
| 0.14 | -0.107 |
| 0.13 | -0.115 |
| 0.12 | -0.125 |
| 0.11 | -0.137 |
| 0.10 | -0.151 |
As shown in fig. 7, when the optical axis included angle parameter of capture apparatus is 0, according to the proportionate relationship of similar triangles, there is public affairs
Formula is as follows：
Wherein, d is mirror heart distance, and L is object distance value, and f is equivalent focal length, and x1-x2 is above-mentioned difference difference, therefore, is passed through
Above-mentioned formula, Tables 1 and 2 can be using quick obtaining optical axis included angles as the 0 object distance value L for being.
The general applicability of the calculation formula of optical axis included angle is illustrated by specific embodiment below：
Note：We define optical axis 2 with respect to the angle that optical axis 1 turns clockwise for just, on the contrary is negative herein.
Embodiment one：
As shown in figure 8, when an optical axis of capture apparatus deflects, and optical axis included angle parameter is when being α, equally, according to
The proportionate relationship of similar triangles, has equation group (1) as follows：
Wherein, d is mirror heart distance, and L is object distance value, and f is equivalent focal length, and x2-x1 is difference, and α is optical axis included angle, and Δ x is
Light shaft offset distance, therefore, object distance value L that can be by α of quick obtaining optical axis included angle by above-mentioned formula pass through above-mentioned equation group
α values are obtained, so as to realize the self calibration of optical axis included angle, and then object distance value are calculated based on the α after calibration, and combination Tables 1 and 2 can
To realize accurate focus process.
Equation group (1) is carried out to simplify after elimination Δ x, the calculation formula for obtaining optical axis included angle is：
Embodiment two：
As shown in figure 9, when two optical axises of capture apparatus deflect, and optical axis included angle parameter is respectively α1And α2When, light
Axle angle α=α2-α1, equally, according to the proportionate relationship of similar triangles, have equation group (2) as follows：
Note, above-mentioned △ x1, △ x2, △ x, α 1, α 2 have symbol, it just may also be negative that may be.
In addition,
Wherein, d is mirror heart distance, and L is object distance value, and f is equivalent focal length, and x2-x1 is difference, and α is optical axis included angle, and Δ x1 is
Primary optic axis offset distance, Δ x2 is the second light shaft offset distance, therefore, can be with quick obtaining optical axis included angle by above-mentioned formula
For α object distance value L (eliminating parameter Δ x1 and Δ x2), α values are obtained by above-mentioned equation group, so as to realize oneself of optical axis included angle
Calibration, and then object distance value is calculated based on the α after calibration, and can realize accurate focus process with reference to Tables 1 and 2.
Table 2
| (x2-x1) (unit：Pixel) | Lens Shift(mm) |
| 0 | 0.000 |
| 1 | -0.001 |
| 2 | -0.003 |
| 3 | -0.004 |
| 4 | -0.005 |
| 5 | -0.007 |
| 6 | -0.008 |
| 7 | -0.008 |
| 8 | -0.009 |
| 9 | -0.009 |
| 10 | -0.010 |
| 11 | -0.010 |
| 12 | -0.011 |
| 13 | -0.012 |
| 14 | -0.013 |
| 16 | -0.015 |
| 18 | -0.016 |
| 20 | -0.018 |
| 22 | -0.021 |
| 24 | -0.024 |
| 28 | -0.029 |
| 32 | -0.033 |
| 36 | -0.037 |
| 40 | -0.042 |
| 44 | -0.049 |
| 50 | -0.059 |
| 56 | -0.074 |
| 62 | -0.099 |
| 70 | -0.107 |
| 80 | -0.115 |
| 90 | -0.125 |
| 110 | -0.137 |
| 130 | -0.151 |
Above-mentioned equation group (2) is simplified, be can obtain：
Optical axis included angle：
It can obtain under small angles：
That is, the calculation formula that optical axis included angle is obtained when two optical axises deflect is similarly：By above-mentioned two embodiment, optical axis included angle according to an embodiment of the invention
Calculation formula is applied to the situation that all optical axis included angles deflect, with universal adaptability.
When above-mentioned capture apparatus uses rapid focus, when testing focusing, the difference for obtaining characteristic point in imaging surface is (multiple
The average value of test), lens displacement is determined by table 2, you can complete rapid focus process.
After rapid focus is completed, using contrast focusing or phase focusing, twin-lens is more accurately focused,
In shooting process, Tables 1 and 2 is updated and optimized after statistics lens displacement.
Technical scheme is described in detail above in association with accompanying drawing, it is contemplated that how to realize the capture apparatus of twin-lens
Self-calibration process to realize the accurate technical problem focused.Therefore, the present invention proposes a kind of new focusing scheme and one
Plant dual camera equipment, it is possible to achieve rapid focus and precisely focusing, meanwhile, realize the optical axis included angle to dual camera equipment
The self calibration of parameter, it is to avoid the focus errors caused by the error of optical axis included angle parameter, improves user's making in shooting process
With experience.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (21)
1. a kind of calibration method of optical axis included angle, the calibration method is suitable for inclusion in the first camera and second camera
Dual camera equipment, it is characterised in that the calibration method includes：
Any feature point of subject is focused, the first object distance value is obtained；
Determine first imaging point coordinate value of the characteristic point on first camera；
Determine second imaging point coordinate value of the characteristic point on the second camera；
According to the first imaging point coordinate value, the second imaging point coordinate value, the pre-stored dual camera equipment
Parameter and the first object distance value and pre-stored optical axis included angle calculation formula determine the optical axis included angle of the dual camera equipment.
2. the calibration method of optical axis included angle according to claim 1, it is characterised in that the first object distance value of acquisition, including with
Lower specific steps：
Obtain the first mapping table of the lens displacement value being pre-stored and object distance value；
The corresponding first object distance value of the lens displacement value is obtained by first mapping table.
3. the calibration method of optical axis included angle according to claim 1, it is characterised in that in any spy to subject
Levy before being focused, in addition to step in detail below：
The parameter of the dual camera equipment is stored, wherein, the parameter includes the equivalent focal length value of the dual camera equipment
Mirror heart distance between the first camera central point and the second camera central point.
4. the calibration method of optical axis included angle according to claim 3, it is characterised in that first imaging point is characterized with x1
Coordinate value, the second imaging point coordinate value is characterized with x2, and object distance value is characterized with L, and the parameter of the dual camera equipment includes
The mirror heart is apart from d and equivalent focal length value f, then the optical axis included angle calculation formula, is specifically included：
5. the calibration method of optical axis included angle according to any one of claim 1 to 4, it is characterised in that determine described double
The optical axis included angle of camera device, including step in detail below：
Calculate the weighted average of all optical axis included angle sampled values of the characteristic point；
The weighted average is stored into the microprocessor of the dual camera equipment, to be used as the dual camera equipment
Optical axis included angle.
6. the calibration method of optical axis included angle according to any one of claim 1 to 4, it is characterised in that also include：
It is determined that after the optical axis included angle, with the difference between the second imaging point coordinate value and the first imaging point coordinate value
Value creates the second mapping between imaging point difference and object distance value by the optical axis included angle calculation formula as imaging point difference
Table.
7. a kind of focusing method, it is adaptable to which the calibration method of the optical axis included angle as any one of claim 1 to 6 completes light
The dual camera equipment of axle clamp angle calibration, it is characterised in that including：
Obtain threeth imaging point coordinate value of any feature o'clock of subject on the first camera；
Obtain fourth imaging point coordinate value of the characteristic point on the second camera；
Using the difference of the 4th imaging point coordinate value and the 3rd imaging point coordinate value as imaging point difference, according to it is described into
Picture point difference, the optical axis included angle of calibration determine the second object distance value；
Lens displacement value is determined according to the first mapping table of the second object distance value and the dual camera equipment, to complete first
Secondary focusing.
8. focusing method according to claim 7, it is characterised in that according to the imaging point difference, the light of calibration
Axle clamp angle determines the second object distance value, including step in detail below：
The parameter of the imaging point difference, the optical axis included angle of calibration and the dual camera equipment is substituted into the optical axis included angle meter
Formula is calculated, to obtain the second object distance value.
9. focusing method according to claim 7, it is characterised in that according to the imaging point difference, the light of calibration
Axle clamp angle determines the second object distance value of the second camera, including step in detail below：
Determine that the imaging point difference is corresponding according to the second mapping table of the imaging point difference and the dual camera equipment
The second object distance value.
10. focusing method according to claim 8 or claim 9, it is characterised in that also include：
Complete for the first time to defocused, complete second using contrast focusing method or phase focusing method and focus.
11. a kind of calibration system of optical axis included angle, the calibration system has been suitable for inclusion in the first camera and second camera
Dual camera equipment, it is characterised in that the calibration system includes：
Acquiring unit, focuses for any feature point to subject, obtains the first object distance value；
Determining unit, for determining first imaging point coordinate value of the characteristic point on first camera；
The determining unit is additionally operable to, and determines second imaging point coordinate value of the characteristic point on the second camera；
The determining unit is additionally operable to, according to the first imaging point coordinate value, the second imaging point coordinate value, pre-stored
The parameter of the dual camera equipment and the first object distance value and pre-stored optical axis included angle calculation formula determine that described pair is taken the photograph
As the optical axis included angle of head apparatus.
12. the calibration system of optical axis included angle according to claim 11, it is characterised in that the acquiring unit is additionally operable to,
Obtain the first mapping table of the lens displacement value being pre-stored and object distance value；And
For obtaining the corresponding first object distance value of the lens displacement value by first mapping table.
13. the calibration system of optical axis included angle according to claim 11, it is characterised in that also include：
Memory cell, the parameter for storing the dual camera equipment, wherein, the parameter includes the dual camera equipment
Equivalent focal length value and the first camera central point and the second camera central point between mirror heart distance.
14. the calibration system of optical axis included angle according to claim 13, it is characterised in that first imaging is characterized with x1
Point coordinates value, the second imaging point coordinate value is characterized with x2, and object distance value, the parameter bag of the dual camera equipment are characterized with L
The mirror heart is included apart from d and equivalent focal length value f, then the optical axis included angle calculation formula, is specifically included：
15. the calibration system of optical axis included angle according to claim 13, it is characterised in that also include：
Computing unit, the weighted average for calculating all optical axis included angle sampled values of the characteristic point；
The memory cell is additionally operable to, and the weighted average is stored into the microprocessor of the dual camera equipment, with
It is used as the optical axis included angle of the dual camera equipment.
16. the calibration system of the optical axis included angle according to any one of claim 11 to 14, it is characterised in that also include：
Creating unit, for it is determined that after the optical axis included angle, with the second imaging point coordinate value and first imaging point
Difference between coordinate value creates imaging point difference and object distance value as imaging point difference by the optical axis included angle calculation formula
Between the second mapping table.
17. a kind of focusing system, it is adaptable to which the calibration system of the optical axis included angle as any one of claim 11 to 16 is complete
The dual camera equipment calibrated into optical axis included angle, it is characterised in that including：
Acquiring unit, for obtaining threeth imaging point coordinate value of any feature o'clock of subject on the first camera；
The acquiring unit is additionally operable to, and obtains fourth imaging point coordinate value of the characteristic point on the second camera；
The focusing system, in addition to：
Determining unit, for poor as imaging point using the difference of the 4th imaging point coordinate value and the 3rd imaging point coordinate value
Value, the second object distance value is determined according to the optical axis included angle of the imaging point difference, calibration；
Focusing unit, for determining lens displacement according to the first mapping table of the second object distance value and the dual camera equipment
Value, to complete to focus for the first time.
18. focusing system according to claim 17, it is characterised in that the determining unit is additionally operable to, by the imaging
The parameter of point difference, the optical axis included angle of calibration and the dual camera equipment substitutes into the optical axis included angle calculation formula, to obtain
The second object distance value.
19. focusing system according to claim 17, it is characterised in that the determining unit is additionally operable to, according to it is described into
Second mapping table of picture point difference and the dual camera equipment determines the corresponding second object distance value of the imaging point difference.
20. the focusing system according to claim 18 or 19, it is characterised in that the focusing unit is additionally operable to, is completed
For the first time to defocused, complete second using contrast focusing method or phase focusing method and focus.
21. a kind of dual camera equipment, it is characterised in that including：Optical axis folder as any one of claim 11 to 16
The calibration system at angle or the focusing system as any one of claim 17 to 20.
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| CN105607409B (en) * | 2016-01-07 | 2018-04-03 | 信利光电股份有限公司 | A kind of image acquisition device and its application method of the correction of dual camera module |
| TWI616715B (en) * | 2016-06-24 | 2018-03-01 | 聚晶半導體股份有限公司 | Method and system for multi-lens module alignment |
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