CN106572340B - Camera system, mobile terminal and image processing method - Google Patents
Camera system, mobile terminal and image processing method Download PDFInfo
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- CN106572340B CN106572340B CN201610959236.7A CN201610959236A CN106572340B CN 106572340 B CN106572340 B CN 106572340B CN 201610959236 A CN201610959236 A CN 201610959236A CN 106572340 B CN106572340 B CN 106572340B
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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
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
- G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
- G06F1/1686—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being an integrated camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
- H04M1/026—Details of the structure or mounting of specific components
- H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
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Abstract
The invention discloses a kind of camera systems, including the first photographic device, the second photographic device, laser projection device and processor；The laser projection device is used for, and the shared visual field of the first photographic device of Xiang Suoshu and the second photographic device projects the structured light patterns of invisible laser；First photographic device is used for, and acquires the first otherwise visible light color image and the first black light image in the shared visual field；Second photographic device is used for, and acquires visible light gray level image and the second black light image in the shared visual field；The processor is used for, and synthesizes the second otherwise visible light color image using first otherwise visible light color image and visible light gray level image, and calculate depth image using the first black light image and the second black light image.The present invention can be realized with smaller volume, lower power consumption to the high-quality colour image of target and the acquisition of depth image.
Description
[technical field]
The present invention relates to optical measurement and electronic field more particularly to a kind of camera systems, mobile terminal and image procossing
Method.
[background technique]
RGB image is able to record the color characteristic of object, has been widely used in terms of pattern-recognition, such as people
Face identification, Articles detecting etc..Recently as the development of depth measurement technology, it is based particularly on the development of structured light technique, benefit
It is also gradually obtained with applications such as depth camera measurement object depth information further progress motion sensing manipulation, 3D reconstruction, tracking and avoidances
To attention.
It is equipped with color camera on the computing device and depth camera makes equipment have more extensive function, but considers
To mobile device as in mobile phone, the isometric lesser calculating equipment of plate, be arranged many cameras be it is unadvisable, on the one hand occupy
A large amount of space；On the other hand bigger power consumption is also brought along.
[summary of the invention]
For overcome the deficiencies in the prior art, the present invention provides a kind of camera system, mobile terminal and image processing methods
Method realizes the Color Image Acquisition and depth image acquisition of high quality with fewer resource.
A kind of camera system, including the first photographic device, the second photographic device, laser projection device and processor；
The laser projection device is used for, and the shared visual field projection of the first photographic device of Xiang Suoshu and the second photographic device is not
The structured light patterns of visible laser；
First photographic device is used for, and the first otherwise visible light color image and first in the acquisition shared visual field is not
Visible images；
Second photographic device is used for, and the visible light gray level image and second in the acquisition shared visual field are invisible
Light image；
The processor is used for, visible using first otherwise visible light color image and the synthesis second of visible light gray level image
Light color image, and depth image is calculated using the first black light image and the second black light image.
Preferably, the processor is used for, using the first black light image and the second black light image according to
Binocular Vision Principle obtains the depth image.
Preferably, the processor is used for, and is calculated the first depth image using the first black light image, is utilized institute
It states the second black light image and calculates the second depth image, and according to first depth image and the second range image integration institute
State depth image.
Preferably, the laser projection device is for alternately projecting the structured light patterns and pass to the shared visual field
Close the projection structured light patterns；
First photographic device is used for, and acquires first during the laser projection device projects the structured light patterns
One black light image acquires the one or two black light during the laser projection device closes and projects the structured light patterns
Image；Second photographic device is used for, and the 2nd 1 is acquired during the laser projection device projects the structured light patterns
Black light image acquires the two or two black light figure during the laser projection device closes and projects the structured light patterns
Picture；The processor is also used to, using the difference image of the one one black light image and the one or two black light image,
And the difference image calculating depth image of the 2nd 1 black light image and the two or two black light image.
Preferably, it within the period that the laser projection device alternating projection and closing project the structured light patterns, throws
The duration for penetrating the structured light patterns is greater than the duration closed and project the structured light patterns.
Preferably, the focal length of lens of first photographic device is different from the focal length of lens of second photographic device.
Preferably, the invisible laser is infrared ray laser.
Preferably, the laser projection device is arranged between first photographic device and the second photographic device.
The present invention also provides a kind of mobile terminals, including any camera system.
The present invention also provides a kind of image acquiring methods, include the following steps:
Project step: laser projection device projects invisible to the shared visual field of the first photographic device and the second photographic device
The structured light patterns of laser；
Acquisition step: first photographic device acquires the first otherwise visible light color image and in the shared visual field
One black light image, second photographic device acquire visible light gray level image in the shared visual field and second can not
Light-exposed image；
Processing step: the processor utilizes first otherwise visible light color image and visible light gray level image synthesis second
Otherwise visible light color image, and depth image is calculated using the first black light image and the second black light image.
The beneficial effects of the present invention are:
Compared with the prior art, the present invention can realize the high-quality colour to target with smaller volume, lower power consumption
The acquisition of image and depth image.
[Detailed description of the invention]
Fig. 1 is the camera system schematic diagram of an embodiment of the present invention
Fig. 2 is the structural schematic diagram of the photographic device of an embodiment of the present invention
Fig. 3 is the optical filter schematic diagram of first photographic device of an embodiment of the present invention
Fig. 4 is the optical filter schematic diagram of second photographic device of an embodiment of the present invention
Fig. 5 is the projection timing diagram of the laser projection device of an embodiment of the present invention
Fig. 6 is the mobile terminal schematic diagram of an embodiment of the present invention
[specific embodiment]
The following further describes in detail the preferred embodiments of the invention.
As shown in Figure 1, a kind of camera system of embodiment, including the first photographic device, the second photographic device, laser projection
Device and processor, processor are electrically connected with the first photographic device, the second photographic device and laser projection device respectively.
The laser projection device is used for, and the shared visual field projection of the first photographic device of Xiang Suoshu and the second photographic device is not
The structured light patterns of visible laser；First photographic device is used for, and acquires the first otherwise visible light color in the shared visual field
Image and the first black light image, second photographic device are used for, and acquire the visible light gray scale in the shared visual field
Image and the second black light image；The processor is used for, and utilizes first otherwise visible light color image and visible light ash
It spends image and synthesizes the second otherwise visible light color image, and calculated using the first black light image and the second black light image
Depth image.
In Fig. 1, FOV indicates the visual angle of the first photographic device and the second photographic device, the projection scope of laser projection device
Cover the shared visual field of the first photographic device and the second photographic device.
As shown in Fig. 2, the typical structure schematic diagram of photographic device, including imaging sensor 1, optical filter 2 and lens 3, light
It is acquired after the convergence of lens 3 is using optical filter 3 by imaging sensor.Optical filter 2 is used for the light by specific wavelength, figure
As sensor 1 is for converting light to digital electric signal.
The Baeyer optical filter that common RGB camera uses, optical filter have identical as image sensor pixel quantity and one
One corresponding filter unit, Baeyer optical filter have the filter unit for passing through feux rouges, green light and blue light respectively, and light passes through
The pixel of imaging sensor corresponding with the filter unit is incident on after some filter unit.In view of human eye is quicker to green light
Sense, therefore be usually R (25%) by the ratio setting of three: G (50%): B (25%).
As shown in figure 3, in a kind of embodiment, the first photographic device uses RGB-IR camera, the optical filter used with visit
Your optical filter is different, and the optical filter of the present embodiment is made of four kinds of different filter units, respectively can be by R, G, B and red
Outer light (IR) component, four ratio are R (25%): G (25%): B (25%): IR (25%), by using this optical filter
2, the first photographic device can both acquire otherwise visible light color image, can also acquire sightless infrared light image.Certainly, may be used
To substitute IR filter unit using the filter unit of other black lights, with cooperate that laser projection device projects other are invisible
Laser.The arrangement mode of each filter unit of the optical filter of the present embodiment and each component accounting are simultaneously not exclusive, can also there is other
Arrangement and distribution mode.
After imaging sensor in first photographic device obtains the optical information of each component (such as R, G, B, IR), due to
Each optical information all only occupies the pixel of part, thus needs to restore by way of interpolation other three kinds points in each pixel
The intensity information of amount, to finally realize synchronous acquisition RGB image and IR image.There are many ways to interpolation, such as plus
Weight average etc., due to not being described in detail herein thus for prior art.
As shown in figure 4, in one embodiment, the second photographic device is for acquiring visible light gray level image and invisible
Light image.Fig. 4 is the optical filter that the second photographic device uses in a kind of embodiment, and wherein IR indicates that infrared filtering unit, W indicate
White light filter element, that is, transparent cell can pass through the light of any wavelength.
Laser projection device is different according to the structured light patterns of projection, and structure is also different.The present embodiment is with speckle particle
Illustrate for structured light patterns.Laser projection device is generally by light source, collimation lens and diffraction optical element (DOE) group
At.Light source is infrared laser in the present embodiment, can be single edge emitting laser light source, is also possible to vertical-cavity surface-emitting and swashs
Optical arrays light source.Due to laser light source issue light have certain angle of divergence, thus need to be collimated using collimation lens with
Launch the light beam of focal length.Laser beam is expanded into multiple laser after DOE, and forms speckle particle pattern in space.
It is that acquisition image, these light sources usually contain under the irradiation of the light sources such as sunlight in many usage scenarios
There is black light (such as infrared light) identical with the black light that laser projection device is projected, the illumination of this part can be to acquisition
Black light image have an impact, especially in the case of light source is more strong, will lead to the black light image of acquisition
The unfavorable situations such as contrast is lower, noise is big.In one embodiment, by controlling laser projection device interval to shared visual field
Projection structure light pattern eliminates this adverse effect.As shown in figure 5, being a kind of interval throwing of the laser projection device of embodiment
Shadow timing diagram, for example laser projection device projection is closed in the T1 period, and acquire corresponding black light pattern I1, and in phase
The adjacent T2 period opens laser projection device projection, and acquire corresponding black light pattern I2... and so on.When adjacent
Between section spacing frequency be not more than black light image frequency acquisition, it can only acquire once can not in a period of time
Light-exposed image can also acquire multiple black light image.It will illustrate how to eliminate with frequency identical situation below
Influence of the black light that light source generates to the black light image of acquisition.
In the T1 period, laser projection device is closed, and the black light image I1 of acquisition only includes invisible in light source
Light ingredient.In the T2 period, the black light image I2 of acquisition then simultaneously comprising laser projection device projection black light at
Point and light source black light ingredient.A kind of processing method is, it is assumed that the illumination of two neighboring period inner light source does not become
Change and collected object does not move, can be eliminated the effects of the act at this time by infrared-difference: differentiated black light figure
As I2 '=I2-I1, such black light image I2 ' have more high contrast.In another processing method, front and back can use
At least two width black light images do difference, such as: I2 '=I2- (I3+I1)/2.There are also more for specific calculus of finite differences processing method
Kind.
It is overall under conditions of frequency acquisition is constant since laser projection device is to close whithin a period of time
The quantity of the black light image of acquisition is reduced, and is had some impact on to subsequent calculating depth image.In order to reduce this influence,
In the switch periods of laser projection device, the length of setting projection opening time section is greater than the length of projection shut-in time section
(such as T2 is greater than T1), to obtain the acquisition frame number of higher black light image.
In one embodiment, a kind of image acquiring method, includes the following steps:
S1, laser projection device project invisible laser to the shared visual field of the first photographic device and the second photographic device
Structured light patterns.
S2, first photographic device acquire the first otherwise visible light color image in the shared visual field and first can not
Light-exposed image, second photographic device acquire visible light gray level image and the second black light figure in the shared visual field
Picture.
S3, the processor synthesize the second visible light using first otherwise visible light color image and visible light gray level image
Color image.
The first photographic device is identical as the size of the image acquisition device of the second photographic device and resolution ratio in the present embodiment, this
Sample visible light gray level image and the first otherwise visible light color image only need to consider two image acquisition devices due to position in synthesis
Image registration problem caused by difference.The parameter of the first photographic device and the second photographic device can also be in other embodiments
It is not identical.Image registration algorithm is well-known technique more mature at present, is not elaborated herein.Due to visible light grayscale image
It seem not filter and directly received acquired in visible light by optical filter, thus its sensitivity is stronger, it can with first by it
Light-exposed color image, which carries out synthesis, may be implemented following effect:
Details enhancing.Under half-light environment, many details in the first otherwise visible light color image will be relatively fuzzyyer, at this time
It will be seen that after the details of the part and the first otherwise visible light color image are synthesized in light gray level image, the second visible light of formation
Color image will possess the image effect being more clear.
Image zoom.It sets different from the focal length of lens of the second photographic device for the first photographic device, for example is respectively
Nearly Jiao Yuyuan is burnt.Since the first otherwise visible light color image is to obtain under remote focal length, thus the subject image in image nearby compares
It is fuzzy, and visible light gray level image is obtained under nearly focal length mode, is mended at this time with the information in visible light gray level image
The part obscured in the first otherwise visible light color image is repaid, the second relatively sharp otherwise visible light color image is ultimately formed.
S4, the processor calculate depth image using the first black light image and the second black light image.
In one embodiment, a kind of image acquiring method includes the following steps:
S11, laser projection device alternately can not to the projection of the shared visual field of the first photographic device and the second photographic device
See the structured light patterns of laser.
S12, first photographic device acquire the first otherwise visible light color image in the shared visual field, and described
Laser projection device acquires the one one black light image during projecting the structured light patterns, closes in the laser projection device
The one or two black light image is acquired during closing the projection structured light patterns.
S13, second photographic device acquire the visible light gray level image in the shared visual field, and in the laser
Projection arrangement acquires the 2nd 1 black light image during projecting the structured light patterns, closes and throws in the laser projection device
The two or two black light image is acquired during penetrating the structured light patterns.
S14, the processor utilize the difference diagram of the one one the black light image and the one or two black light image
The difference image of picture and the 2nd 1 the black light image and the two or two black light image, according to Binocular Vision Principle
Calculate the depth image.
Encoded structured light patterns are cast into object space due to using laser projection device, thus first takes the photograph
Picture device and the collected black light pattern of the second photographic device have gem-pure minutia, with common based on double
The camera visually felt is compared, using in the present invention the first black light image and the second black light image be based on binocular vision
The higher depth image of the available precision of principle.Simultaneously with by single camera and laser-projector form based on structure light skill
The depth measurement principle of art is compared, and saves reference picture in this method without additional memory (such as with reference to speckle pattern
Picture), while this method has stronger environment resistant light interference performance.In addition, calculating depth map using difference image, essence is calculated
Du Genggao.
In one embodiment, a kind of image acquiring method includes the following steps:
S21, laser projection device alternately can not to the projection of the shared visual field of the first photographic device and the second photographic device
See the structured light patterns of laser.
S22, first photographic device acquire the first otherwise visible light color image in the shared visual field, and described
Laser projection device acquires the one one black light image during projecting the structured light patterns, closes in the laser projection device
The one or two black light image is acquired during closing the projection structured light patterns.
S23, second photographic device acquire the visible light gray level image in the shared visual field, and in the laser
Projection arrangement acquires the 2nd 1 black light image during projecting the structured light patterns, closes and throws in the laser projection device
The two or two black light image is acquired during penetrating the structured light patterns.
S24, the processor utilize the difference diagram of the one one the black light image and the one or two black light image
As calculating the first depth image, the difference image meter of the 2nd 1 the black light image and the two or two black light image is utilized
The second depth image is calculated, the first depth image and the higher depth image of the second range image integration precision are then utilized.
It may be constructed by the first photographic device and laser projection device based on the trigon depth measurement unit of structure light.It obtains
The principle for taking depth information is to obtain the reference picture accessed in collected black light image and system progress matching primitives
Capture element deviation value, then the one-to-one relationship of pixel deviation value and actual depth value is utilized by principle of triangulation
Obtain the depth image of object space.Here reference picture is by acquiring in the plane apart from depth camera known depth value
Black light image and obtain.
Due to the relationship of shooting visual angle, it is only capable of obtaining the depth information of object side, such as human body, if phase seat in the plane
On the left of human body, then the data on right side have loss.It thus can further utilize the first depth image and second obtained
Depth image is synthesized, and data complement can be carried out, in contrast obtained third depth image possesses higher space point
Debate rate.
As shown in fig. 6, a kind of mobile terminal 7 containing this camera system of embodiment, including processor, a photographic device
4, laser projection device 5 and the second photographic device 6.First photographic device 4, laser projection device 5 and the second photographic device 6 can be with
It is arranged on the same surface of mobile terminal, laser projection device 5 is preferably provided at the first photographic device 4 and the second camera shooting dress
It sets between 6, the first photographic device 4, laser projection device 5 and the second photographic device 6 are preferably provided on same straight line.Processing
Device etc. by one of CPU, application specific processor, microelectronic component in mobile terminal etc. or a variety of can form.Mobile terminal
It can be mobile phone, plate, computer etc..
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention by
The scope of patent protection that the claims submitted determine.
Claims (8)
1. a kind of camera system, characterized in that including the first photographic device, the second photographic device, laser projection device and processing
Device；
The laser projection device is used for, and the shared visual field projection of the first photographic device of Xiang Suoshu and the second photographic device is invisible
The encoded structured light patterns of laser；
First photographic device is used for, and the first otherwise visible light color image and first in the acquisition shared visual field are invisible
Light image；
Second photographic device is used for, and acquires visible light gray level image and the second black light figure in the shared visual field
Picture；The visible light gray level image is not filter and directly received acquired in visible light by optical filter；
The processor is used for, and synthesizes the second visible brilliance using first otherwise visible light color image and visible light gray level image
Chromatic graph picture, and depth image is calculated using the first black light image and the second black light image；
The focal length of lens of first photographic device is different from the focal length of lens of second photographic device；
It is made of the first photographic device and laser projection device based on the trigon depth measurement unit of structure light；Obtain depth letter
The principle of breath is that the reference picture accessed in collected black light image and system progress matching primitives acquisition pixel is inclined
Target can be obtained using the one-to-one relationship of pixel deviation value and actual depth value from value, then by principle of triangulation
The depth image in space；Here reference picture is invisible in the plane apart from depth camera known depth value by acquiring
Light image and obtain；
The processor is used for, and calculates the first depth image using the first black light image, can not using described second
Light-exposed image calculates the second depth image, and according to first depth image and the second range image integration third depth map
Picture.
2. camera system as described in claim 1, characterized in that
The processor is used for, using the first black light image and the second black light image according to Binocular Vision Principle
The depth image is obtained, to obtain the higher depth image of precision.
3. camera system as described in claim 1, characterized in that
The laser projection device is for alternately projecting the structured light patterns to the shared visual field and closing described in projection
Structured light patterns；
First photographic device is used for, and the one one is acquired during the laser projection device projects the structured light patterns not
Visible images acquire the one or two black light figure during the laser projection device closes and projects the structured light patterns
Picture；Second photographic device is used for, and the 2nd 1 is acquired during the laser projection device projects the structured light patterns not
Visible images acquire the two or two black light figure during the laser projection device closes and projects the structured light patterns
Picture；The processor is also used to, using the difference image of the one one black light image and the one or two black light image,
And the difference image calculating depth image of the 2nd 1 black light image and the two or two black light image.
4. camera system as claimed in claim 3, characterized in that
It alternately projects the structured light patterns to the shared visual field in the laser projection device and closes and project the knot
In the period of structure light pattern, the duration for projecting the structured light patterns is greater than the duration closed and project the structured light patterns.
5. camera system as described in claim 1, characterized in that
The invisible laser is infrared ray laser.
6. camera system as described in claim 1, characterized in that
The laser projection device is arranged between first photographic device and the second photographic device.
7. a kind of mobile terminal, characterized in that including the camera system as described in claim 1-6 any claim.
8. a kind of image acquiring method, characterized in that include the following steps:
Project step: laser projection device projects invisible laser to the shared visual field of the first photographic device and the second photographic device
Encoded structured light patterns；
Acquisition step: first photographic device acquires the first otherwise visible light color image and first in the shared visual field not
Visible images, second photographic device acquire visible light gray level image and the second black light in the shared visual field
Image；
Processing step: processor synthesizes the second visible brilliance using first otherwise visible light color image and visible light gray level image
Chromatic graph picture, and depth image is calculated using the first black light image and the second black light image；
The focal length of lens of first photographic device is different from the focal length of lens of second photographic device；
It is made of the first photographic device and laser projection device based on the trigon depth measurement unit of structure light；Obtain depth letter
The principle of breath is that the reference picture accessed in collected black light image and system progress matching primitives acquisition pixel is inclined
Target can be obtained using the one-to-one relationship of pixel deviation value and actual depth value from value, then by principle of triangulation
The depth image in space；Here reference picture is invisible in the plane apart from depth camera known depth value by acquiring
Light image and obtain；
The processor is used for, and calculates the first depth image using the first black light image, can not using described second
Light-exposed image calculates the second depth image, and according to first depth image and the second range image integration third depth map
Picture.
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| CN107343122A (en) * | 2017-08-02 | 2017-11-10 | 深圳奥比中光科技有限公司 | 3D imaging devices |
| CN107507272A (en) * | 2017-08-09 | 2017-12-22 | 广东欧珀移动通信有限公司 | Establish the method, apparatus and terminal device of human 3d model |
| CN107395974B (en) * | 2017-08-09 | 2019-09-13 | Oppo广东移动通信有限公司 | Image processing system and method |
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