CN106597424A - Distance measuring method and distance measuring system based on dual cameras, and mobile terminal - Google Patents
Distance measuring method and distance measuring system based on dual cameras, and mobile terminal Download PDFInfo
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- CN106597424A CN106597424A CN201611199439.7A CN201611199439A CN106597424A CN 106597424 A CN106597424 A CN 106597424A CN 201611199439 A CN201611199439 A CN 201611199439A CN 106597424 A CN106597424 A CN 106597424A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses a distance measuring method and a distance measuring system based on dual cameras, and a mobile terminal. The distance measuring method based on dual cameras comprises the following steps: shooting images of a to-be-measured object through a first camera and a second camera; acquiring a first included angle between the incident light from the to-be-measured object to the first camera and the center connecting line of the first camera and the second camera and a second included angle between the incident light from the to-be-measured object to the second camera and the center connecting line of the first camera and the second camera according to shot image data; and calculating the distance between the to-be-measured object and any point on the center connecting line of the first camera and the second camera according to the first included angle, the second included angle and the distance between the first camera and the second camera. According to the invention, included angle information can be acquired according to the images shot by the two cameras, the distance between the to-be-measured object and the center connecting line of the first camera and the second camera can be calculated, and therefore, the to-be-measured object is positioned accurately, and the shooting effect is improved.
Description
Technical field
The present invention relates to technical field of mobile terminals, it is more particularly to a kind of based on the distance-finding method of dual camera, system and
Mobile terminal.
Background technology
As the abundant function of the various intelligent terminals of development of science and technology brings many facilities to user's life, for example now
Intelligent terminal on the market is almost provided with shooting camera function, and traditional smart mobile phone is single camera shooting, single
Camera shooting can meet requirement to photographic effect, but not bery accurate to the judgement of target object distance, it is impossible to which it is accurately fixed to realize
Position and range finding object, affect effect of taking pictures.
Thus prior art could be improved and improve.
The content of the invention
In view of above-mentioned the deficiencies in the prior art part, it is an object of the invention to provide a kind of range finding based on dual camera
Method, system and mobile terminal, can obtain angle information and calculate object under test and two according to the image that two cameras shoot
The distance of individual camera central junction line, is accurately positioned object under test and improves effect of taking pictures.
In order to achieve the above object, this invention takes technical scheme below：
A kind of distance-finding method based on dual camera, it comprises the steps：
A, the first camera and second camera shoot respectively the image of object under test；
B, incident ray and the first camera and second according to the image data acquisition object under test for shooting to the first camera
First angle of camera central junction line；And object under test is to the incident ray and the first camera and of second camera
Second angle of two camera central junction lines；
C, according to the distance between first angle, the second angle and the first camera and second camera, calculate to be measured
The distance of any point on object and the first camera and second camera central junction line.
In the described distance-finding method based on dual camera, step is also included after step B, before step C：
C0, the offset direction that object under test is judged according to the size of first angle and the second angle.
In the described distance-finding method based on dual camera, step C0 is specifically included：
When the first angle is more than the second angle, judge that object under test deviates to the direction of the first camera；
When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located at the first camera and second camera central junction line
Middle vertical plane on.
In the described distance-finding method based on dual camera, step C includes step：
C1, according to first angle and the incident ray and object under test of the second angle calcu-lation object under test to the first camera
To the 3rd angle of the incident ray of second camera；
C2, according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.
In the described distance-finding method based on dual camera, step C2 includes step：
C21, according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
The distance between from calculating the distance between object under test and the first camera, and object under test and second camera；
C22, according to the distance of the camera of any point distance first on the first camera and second camera central junction line, treat
Survey the distance of the distance between object and the first camera and the first angle calcu-lation object under test and the point；Or according to first
Any point is apart from the distance of second camera, object under test and the second shooting on camera and second camera central junction line
The distance of the distance between head and the second angle calcu-lation object under test and the point.
A kind of range-measurement system based on dual camera, including for shooting first camera and second of object under test image
Camera, the range-measurement system based on dual camera also includes：
Acquisition module, for being taken the photograph with first to the incident ray of the first camera according to the image data acquisition object under test for shooting
As head and the first angle of second camera central junction line；And object under test is to the incident ray and first of second camera
Second angle of camera and second camera central junction line；
Computing module, for according to first angle, between the second angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.
In the described range-measurement system based on dual camera, also include：
Walking direction module, for judging the offset direction of object under test according to the size of first angle and the second angle.
In the described range-measurement system based on dual camera, the walking direction module specifically for：
When the first angle is more than the second angle, judge that object under test deviates to the direction of the first camera；
When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located at the first camera and second camera central junction line
Middle vertical plane on.
In the described range-measurement system based on dual camera, the computing module includes：
Angle calcu-lation unit, for according to the incidence of first angle and the second angle calcu-lation object under test to the first camera
The 3rd angle of light and object under test to the incident ray of second camera；
Metrics calculation unit, for being taken the photograph with second according to first angle, the second angle, the 3rd angle and the first camera
The distance between as head, calculate any point on object under test and the first camera and second camera central junction line away from
From.
A kind of mobile terminal, it includes range-measurement system as above based on dual camera.
Compared to prior art, the present invention provide based in the distance-finding method of dual camera, system and mobile terminal, institute
State the image that the distance-finding method based on dual camera shoots respectively object under test by the first camera and second camera；Afterwards
According to the incident ray and the first camera and second camera of the image data acquisition object under test for shooting to the first camera
First angle of central junction line；And incident ray and first camera and second shooting of the object under test to second camera
Second angle of head central junction line；Afterwards according to first angle, the second angle and the first camera and the second shooting
The distance between head, calculates the distance of any point on object under test and the first camera and second camera central junction line；
Angle information can be obtained according to the image that two cameras shoot and calculate object under test and two camera central junction lines
Distance, is accurately positioned object under test and improves effect of taking pictures.
Description of the drawings
The flow chart of the distance-finding method based on dual camera that Fig. 1 is provided for the present invention.
Apart from measuring principle figure in the distance-finding method based on dual camera that Fig. 2 is provided for the present invention.
The structured flowchart of the range-measurement system based on dual camera that Fig. 3 is provided for the present invention.
Specific embodiment
In view of the shortcomings of single camera shooting is inaccurate to target object range estimation in prior art, the purpose of the present invention
It is to provide a kind of based on the distance-finding method of dual camera, system and mobile terminal, the image that can be shot according to two cameras
Obtain angle information and calculate the distance of object under test and two camera central junction lines, be accurately positioned object under test and improve bat
According to effect.
To make the purpose of the present invention, technical scheme and effect clearer, clear and definite, develop simultaneously referring to the drawings embodiment pair
The present invention is further described.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Fig. 1 is referred to, what the present invention was provided is comprised the steps based on the distance-finding method of dual camera：
S100, the first camera and second camera shoot respectively the image of object under test；
S200, incident ray and the first camera according to the image data acquisition object under test for shooting to the first camera and the
First angle of two camera central junction lines；And object under test to second camera incident ray and the first camera and
Second angle of second camera central junction line；
S300, according to the distance between first angle, the second angle and the first camera and second camera, calculating is treated
Survey the distance of any point on object and the first camera and second camera central junction line.
By arranging two cameras on filming apparatus such as smart mobile phone or flat board etc., respectively first takes the photograph the present invention
As head and second camera, predeterminable range is kept between first camera and second camera, and by the predeterminable range value
In being stored in advance in filming apparatus, the image of object under test is shot respectively by first camera and second camera, it
Incident ray and the first camera according to the image data acquisition object under test for shooting to the first camera and the second shooting afterwards
First angle of head central junction line；And object under test is taken the photograph to the incident ray of second camera with the first camera and second
As the second angle of head central junction line, specifically, Fig. 2, the first camera are seen also（10 are expressed as in figure）, second take the photograph
As head（20 are expressed as in figure）Determine plane triangle ABC with object under test, wherein A points are the first camera, B points are the
Two cameras, C points are any point on object under test, and the present invention is according to the image data acquisition object under test for shooting to first
First angle α of the incident ray of camera and the first camera and second camera central junction line, i.e. AB is while with AC
Angle, and object under test to second camera incident ray and the first camera and second camera central junction line
The angle of two angle β, i.e. AB while with BC, afterwards according to first angle α, the second angle β and the first camera and
The distance between two cameras AB, calculates any point on object under test and the first camera and second camera central junction line
Distance, so as to realize being accurately positioned object under test by dual camera, improve shooting effect.
Further, after the step S200 step, is also included before step S300：
S31, the offset direction that object under test is judged according to the size of first angle and the second angle.
The substantially offset direction of object under test, institute are can determine whether after the size for knowing the first angle and the second angle
State step S31 to specifically include：
When the first angle is more than the second angle, judge that object under test deviates to the direction of the first camera；
When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located at the first camera and second camera central junction line
Middle vertical plane on.
As shown in FIG., the grid bearing of object under test, if α=β, explanation are judged according to the first angle α and the second angle β
Object under test on the middle of two cameras, the i.e. middle vertical plane of the first camera and second camera central junction line, this
When triangle ABC be isosceles triangle；If α is ＞ β, object under test deviates on the left side to the direction of the first camera, and α
It is more big toward the first camera direction deviate；If α is ＜ β, object under test on the right, i.e., deviates to the direction of second camera,
And α is more little more deviates toward second camera direction, and by the big I of the first angle and the second angle object under test is judged rapidly
General orientation, the orientation that efficient can learn object under test when accurate distance value need not be calculated, and adjust corresponding
Parameter of taking pictures improves shooting effect.
Further, step S300 includes step：
S301, according to first angle and the incident ray and determinand of the second angle calcu-lation object under test to the first camera
Threeth angle of the body to the incident ray of second camera；
S302, according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.
After the first angle and the second angle is obtained, the first camera can be drawn according to angle sum of a triangle formula
Incident ray and object under test to the incident ray of second camera the 3rd angle γ, i.e. corner dimensions of AC while with BC,
Distance of the object under test apart from filming apparatus, the more little then objects under test of the 3rd angle γ can determine whether by the size of the 3rd angle γ
Reason filming apparatus are more remote, and the 3rd angle γ is more big, and then object under test reason filming apparatus are nearer, for example, can pre-set an angle threshold
Value, angle threshold one distance threshold of correspondence, when the 3rd angle γ is more than the angle threshold, its distance apart from filming apparatus
Distance threshold can be less than, so as to quickly judge approximate range of the object under test apart from filming apparatus.
Due to now first angle α, the second angle β, the 3rd angle γ and the first camera and second camera
The distance between AB be now, it is known that therefore object under test and the first camera and the can be calculated according to aforementioned four given value
The distance of any point on two camera central junction lines.
Specifically, step S302 includes step：
S3021, according to first angle, between the second angle, the 3rd angle and the first camera and second camera
The distance between distance calculating the distance between object under test and the first camera, and object under test and second camera；
S3022, according to the distance of the camera of any point distance first on the first camera and second camera central junction line,
The distance of the distance between object under test and the first camera and the first angle calcu-lation object under test and the point；Or according to
Any point is taken the photograph apart from the distance of second camera, object under test with second on one camera and second camera central junction line
As the distance between head and the distance of the second angle calcu-lation object under test and the point.
In triangle ABC, when known to the first angle α, the second angle β, the size on the 3rd angle γ and AB sides, root
According to sine, i.e. AB/sin γ=BC/sin α=AC/sin β can calculate between object under test and the first camera away from
From the distance between the i.e. length on AC sides, and object under test and second camera, the i.e. length on BC sides, wherein AC=AB/sin
γ * sin β, BC=AB/sin γ * sin α, now the three of the triangle ABC length of side by the cosine law, it is known that can be calculated
The distance of any point on object under test and the first camera and second camera central junction line, specially first obtains first and takes the photograph
As any point on head and second camera central junction line（Assume that the point is O）Position, imaged according to the distance first
The distance of head is the distance between length, object under test and first camera of the AO i.e. length of AC and the first angle α, is led to
Cross cosine law cos α=(AC2+AO2-CO2)/(2AC*AO) can calculate CO sizes, i.e. object under test apart from O points away from
From the equally length also dependent on BO and formula cos β=(BC2+BO2-CO2)/(2BC*BO) length on CO sides is calculated, from
And the precise positioning of object under test is realized, and the function of filming apparatus is enriched, improve shooting effect.
The present invention correspondingly provides a kind of range-measurement system based on dual camera, including shoot object under test image first
Camera 10 and second camera 20, also including acquisition module 30, walking direction module 40 and computing module 50, described first takes the photograph
As 10, second camera 20, walking direction module 40 and computing module 50 are all connected with acquisition module 30, wherein the acquisition mould
Block 30 is used to obtain incident ray and first camera and second shooting of the object under test to the first camera according to photographed data
First angle of head central junction line；And object under test is taken the photograph to the incident ray of second camera with the first camera and second
As the second angle of head central junction line；The walking direction module 40 is used for according to the big of first angle and the second angle
The little offset direction for judging object under test；The computing module 50 is used for according to first angle, the second angle and first
The distance between camera and second camera, calculate on object under test and the first camera and second camera central junction line
The distance of any point.Specifically refer to the corresponding embodiment of said method.
The walking direction module 40 is specifically for when the first angle is more than the second angle, judging object under test to first
Deviate in the direction of camera；When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located in the first camera and second camera central junction line
On vertical plane.Specifically refer to the corresponding embodiment of said method.
Further, the computing module 50 includes angle calcu-lation unit and metrics calculation unit, the angle calcu-lation list
Unit's connection metrics calculation unit, the angle calcu-lation unit is used for according to first angle and the second angle calcu-lation object under test
To the first camera incident ray and object under test to the incident ray of second camera the 3rd angle；The distance is calculated
Unit be used for according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.Specifically refer to
The corresponding embodiment of said method.
The present invention correspondingly provides a kind of mobile terminal, and it includes range-measurement system as above based on dual camera,
Be capable of achieving found range by rearmounted dual camera, and by 4G/3G/2G transmitting receiving module, WiFi/ bluetooth modules,
GPS/ Big Dipper receivers, display screen, microphone, loudspeaker etc. realize the several functions of mobile terminal, and central processing unit processes two
The view data of individual camera, and speech data, location data, wireless communication data, the sensing of other corresponding module transmission
Device data, drive and show, drive loudspeaker etc., due to having been retouched in detail to the range-measurement system based on dual camera above
State, be not described further herein.
In sum, the present invention provide based on the distance-finding method of dual camera, system and mobile terminal in, it is described to be based on
The distance-finding method of dual camera shoots respectively the image of object under test by the first camera and second camera；Afterwards according to bat
Incident ray and first camera and second camera center company of the image data acquisition object under test taken the photograph to the first camera
First angle of wiring；And incident ray and first camera and second camera center of the object under test to second camera
Second angle of connecting line；Afterwards according to first angle, between the second angle and the first camera and second camera
Distance, calculate the distance of any point on object under test and the first camera and second camera central junction line；Can basis
Two camera image acquisition angle information for shooting and the distance for calculating object under test and two camera central junction lines, it is accurate
It is determined that position object under test improves effect of taking pictures.
It is understood that for those of ordinary skills, with technology according to the present invention scheme and its can send out
Bright design in addition equivalent or change, and all these changes or replace the guarantor that should all belong to appended claims of the invention
Shield scope.
Claims (10)
1. a kind of distance-finding method based on dual camera, it is characterised in that comprise the steps：
A, the first camera and second camera shoot respectively the image of object under test；
B, incident ray and the first camera and second according to the image data acquisition object under test for shooting to the first camera
First angle of camera central junction line；And object under test is to the incident ray and the first camera and of second camera
Second angle of two camera central junction lines；
C, according to the distance between first angle, the second angle and the first camera and second camera, calculate to be measured
The distance of any point on object and the first camera and second camera central junction line.
2. the distance-finding method based on dual camera according to claim 1, it is characterised in that after step B, step
Also include step before C：
C0, the offset direction that object under test is judged according to the size of first angle and the second angle.
3. the distance-finding method based on dual camera according to claim 2, it is characterised in that step C0 is specifically wrapped
Include：
When the first angle is more than the second angle, judge that object under test deviates to the direction of the first camera；
When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located at the first camera and second camera central junction line
Middle vertical plane on.
4. the distance-finding method based on dual camera according to claim 1, it is characterised in that step C includes step：
C1, according to first angle and the incident ray and object under test of the second angle calcu-lation object under test to the first camera
To the 3rd angle of the incident ray of second camera；
C2, according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.
5. the distance-finding method based on dual camera according to claim 4, it is characterised in that step C2 includes step
Suddenly：
C21, according to first angle, between the second angle, the 3rd angle and the first camera and second camera away from
The distance between from calculating the distance between object under test and the first camera, and object under test and second camera；
C22, according to the distance of the camera of any point distance first on the first camera and second camera central junction line, treat
Survey the distance of the distance between object and the first camera and the first angle calcu-lation object under test and the point；Or according to first
Any point is apart from the distance of second camera, object under test and the second shooting on camera and second camera central junction line
The distance of the distance between head and the second angle calcu-lation object under test and the point.
6. a kind of range-measurement system based on dual camera, including taking the photograph for the first camera and second that shoot object under test image
As head, it is characterised in that the range-measurement system based on dual camera also includes：
Acquisition module, for being taken the photograph with first to the incident ray of the first camera according to the image data acquisition object under test for shooting
As head and the first angle of second camera central junction line；And object under test is to the incident ray and first of second camera
Second angle of camera and second camera central junction line；
Computing module, for according to first angle, between the second angle and the first camera and second camera away from
From the distance of any point on calculating object under test and the first camera and second camera central junction line.
7. the range-measurement system based on dual camera according to claim 6, it is characterised in that also include：
Walking direction module, for judging the offset direction of object under test according to the size of first angle and the second angle.
8. the range-measurement system based on dual camera according to claim 7, it is characterised in that the walking direction module tool
Body is used for：
When the first angle is more than the second angle, judge that object under test deviates to the direction of the first camera；
When the first angle is less than the second angle, judge that object under test deviates to the direction of second camera；
When the first angle is equal to the second angle, judge that object under test is located at the first camera and second camera central junction line
Middle vertical plane on.
9. the range-measurement system based on dual camera according to claim 6, it is characterised in that the computing module includes：
Angle calcu-lation unit, for according to the incidence of first angle and the second angle calcu-lation object under test to the first camera
The 3rd angle of light and object under test to the incident ray of second camera；
Metrics calculation unit, for being taken the photograph with second according to first angle, the second angle, the 3rd angle and the first camera
The distance between as head, calculate any point on object under test and the first camera and second camera central junction line away from
From.
10. a kind of mobile terminal, it is characterised in that include as described in claim 6-9 any one based on dual camera
Range-measurement system.
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| CN107167791A (en) * | 2017-07-24 | 2017-09-15 | 奇酷互联网络科技（深圳）有限公司 | The method and apparatus and mobile terminal of a kind of ranging |
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