CN108833795B - Focusing method and device of image acquisition equipment - Google Patents
Focusing method and device of image acquisition equipment Download PDFInfo
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- CN108833795B CN108833795B CN201810996281.9A CN201810996281A CN108833795B CN 108833795 B CN108833795 B CN 108833795B CN 201810996281 A CN201810996281 A CN 201810996281A CN 108833795 B CN108833795 B CN 108833795B
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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
Abstract
The embodiment of the application discloses a focusing method and a focusing device of image acquisition equipment, wherein the focusing position of the image acquisition equipment is adjusted by acquiring the actual distance between an interest point of a target object and the image acquisition equipment, and the depth of field of the image acquisition equipment is changed according to the actual distance between the interest point of the target object and the image acquisition equipment, so that the target object is positioned within the depth of field of the image acquisition equipment, a clear target image is obtained, and the accuracy of acquiring the characteristic information of the target object is improved.
Description
Technical Field
The present disclosure relates to the field of computers, and in particular, to a focusing method and apparatus for an image capturing device.
Background
The image capturing device is a device for capturing a target object to obtain a target image, such as a camera or a video camera, and the obtained target image may represent the characteristics of the target object. In practical applications, a landscape, an animal or a human being, or the like may be photographed by the image acquisition device, and characteristic information of the object to the subject may be acquired by photographing the obtained image. For example, a face image or an eye image of the user may be obtained, and the gaze point of the user may be obtained by analyzing the eye feature information.
However, when the image acquisition device determines the target object, the lens parameters of the image acquisition device may also be determined accordingly, which results in a fixed depth of field of the camera, and when the position of the target object exceeds the depth of field range, the sharpness of the acquired target image may be reduced, for example, the sharpness of the acquired face image or eye image is reduced, which results in inaccurate feature information acquisition of the target object, for example, inaccurate eye feature information acquisition, and thus inaccurate fixation point estimation.
Disclosure of Invention
In order to solve the problem that in the prior art, the feature information of a target object is not accurately obtained due to the fact that the definition of the target image is reduced, the embodiment of the application provides a focusing method and a focusing device of image obtaining equipment.
The embodiment of the application provides a focusing method of image acquisition equipment, which comprises the following steps:
acquiring the actual distance between an interest point on a target object and image acquisition equipment, wherein the image acquisition equipment is used for shooting the target object;
and adjusting the focusing position of the image acquisition equipment according to the actual distance.
Optionally, the acquiring the actual distance between the point of interest on the target object and the image acquisition device includes:
shooting a target object by using image acquisition equipment to obtain a target image;
determining the direction of the interest point on the target object relative to the image acquisition equipment according to the position of the interest point in the target image;
determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device;
controlling the ranging device to measure an actual distance between the interest point and the ranging device;
and obtaining the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
Optionally, the determining and adjusting the orientation of the ranging device according to the direction of the point of interest on the target object relative to the image acquisition device includes:
and determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located.
Optionally, the distance measuring device includes an infrared distance measuring device and/or an ultrasonic distance measuring device.
Optionally, the obtaining the actual distance between the point of interest and the image obtaining device includes:
acquiring a depth map of the target object by a depth camera;
acquiring the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera according to the depth map;
and obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
Optionally, the depth camera comprises: at least one of a TOF camera, a structured light camera, and a binocular range camera.
Optionally, the obtaining an actual distance between the point of interest and the image obtaining device includes:
controlling a light source to illuminate the target object;
shooting a target object by using image acquisition equipment to obtain a target image;
determining the spot spacing or the binocular spacing of the eyes in the target image through the target image;
and determining the actual distance between the eyes of the user and the image acquisition equipment according to the light spot distance or the binocular distance.
Optionally, the image acquiring apparatus includes: a CCD camera or a CMOS camera.
Optionally, the adjusting the focusing position of the image capturing device according to the actual distance includes:
and adjusting the focusing position of the image acquisition equipment by utilizing a voice coil motor according to the actual distance.
The embodiment of the application provides a focusing device of image acquisition equipment, the device includes:
the distance acquisition unit is used for acquiring the actual distance between an interest point on a target object and image acquisition equipment, and the image acquisition equipment is used for shooting the target object;
and the adjusting unit is used for adjusting the focusing position of the image acquisition equipment according to the actual distance.
Optionally, the distance obtaining unit includes:
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
a first direction determining unit, configured to determine, according to a position of the point of interest in the target image, a direction of the point of interest on the target object relative to the image acquiring apparatus;
the orientation adjusting unit is used for determining and adjusting the orientation of the distance measuring equipment according to the direction of the interest point on the target object relative to the image acquisition equipment;
the distance measurement control unit is used for controlling the distance measurement equipment to measure the actual distance between the interest point and the distance measurement equipment;
and the first distance acquisition subunit is used for acquiring the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
Optionally, the orientation adjusting unit is specifically configured to:
and determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located.
Optionally, the distance measuring device includes an infrared distance measuring device and/or an ultrasonic distance measuring device.
Optionally, the distance obtaining unit includes:
a depth map acquisition unit for acquiring a depth map of the target object by a depth camera;
a distance and direction acquisition unit, configured to acquire, according to the depth map, an actual distance between the point of interest on the target object and the depth camera, and a direction of the point of interest on the target object relative to the depth camera;
and the second distance acquisition subunit is used for obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
Optionally, the depth camera comprises: at least one of a TOF camera, a structured light camera, and a binocular range camera.
Optionally, the point of interest on the target object is an eye of a user, and the distance obtaining unit includes:
a light source control unit for controlling a light source to irradiate the target object;
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
the eye feature acquisition unit is used for determining the facula distance or the binocular distance of the eyes in the target image through the target image;
and the third distance acquisition subunit is used for determining the actual distance between the eyes of the user and the image acquisition equipment according to the light spot distance or the binocular distance.
Optionally, the image acquiring apparatus includes: a CCD camera or a CMOS camera.
Optionally, the adjusting unit is specifically configured to:
and adjusting the focusing position of the image acquisition equipment by utilizing a voice coil motor according to the actual distance.
According to the focusing method and device for the image acquisition equipment, the actual distance between the interest point of the target object and the image acquisition equipment is acquired, the image acquisition equipment is used for shooting the target object, the focusing position of the image acquisition equipment is adjusted according to the actual distance between the interest point of the target object and the image acquisition equipment, the depth of field range of the image acquisition equipment is changed, and therefore the target object is located within the depth of field range of the image acquisition equipment, a clear target image is obtained conveniently, and accuracy of acquiring the characteristic information of the target object is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a focusing method of an image capturing device according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a focusing device of an image capturing apparatus according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the prior art, a target object may be photographed by an image acquiring device to obtain a target image, and feature information of the target object may be acquired from the target image. For example, the eyes of the user can be shot by means of image acquisition equipment based on an infrared frequency band to obtain an eye image, and the characteristic information of the eyes in the eye image is analyzed to further obtain the user fixation point. However, when the image acquisition device determines, the lens parameters of the image acquisition device may also be determined accordingly, resulting in a fixed depth of field of the camera, and when the position of the target object exceeds the depth of field range, the sharpness of the acquired target image may be reduced, for example, the sharpness of the acquired face image or eye image may be reduced, resulting in inaccurate acquisition of the feature information of the target object, for example, inaccurate acquisition of the eye feature information, and thus inaccurate estimation of the fixation point.
Particularly, for a high-definition high-frame-rate camera, the high-frame-rate camera is often limited by a high frame rate, the exposure time is short, and therefore the high-frame-rate camera has a large aperture, and meanwhile, due to the requirement of high definition, the high-frame-rate camera often has a telephoto lens, and therefore the depth of field is relatively small, the position of a target object is easily beyond the depth of field range, and an acquired target image is more easily unclear.
In order to solve the above technical problem, an embodiment of the present application provides a focusing method and apparatus for an image capturing device, where an actual distance between an interest point of a target object and the image capturing device is obtained, where the image capturing device is configured to capture the target object, and a focusing position of the image capturing device is adjusted according to the actual distance between the interest point of the target object and the image capturing device, so that a depth of field range of the image capturing device is changed, and thus the target object is located within the depth of field range of the image capturing device, so as to obtain a clear target image and improve accuracy of obtaining feature information of the target object.
Referring to fig. 1, a flowchart of a focusing method of an image capturing apparatus according to an embodiment of the present application is shown, where the method includes the following steps.
S101, acquiring the actual distance between the interest point of the target object and the image acquisition equipment.
The image capturing device may be an infrared camera, an infrared video camera, or the like, and is configured to capture a face image and/or an eye image of a user, and the core imaging component of the image capturing device may be a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS).
The target object may be a photographed object, and may have a point of interest thereon. The target object may be, for example, a landscape, an animal or a human being, etc., and specifically, may be a face or eyes of a user. The interest points can be determined by the user, and the interest points are often required to be shot by the user with emphasis, so that the positions of the interest points in the shot image generally need higher definition, and accordingly, the feature information of the interest points can be obtained from the shot image. For example, when the user needs to acquire feature information of the eyes, the eyes may be used as the interest points, and certainly, the eyebrow may also be used as the interest points.
There are various ways to obtain the actual distance between the point of interest of the target object and the image acquisition device.
As a possible distance acquisition mode, the target object can be shot by the image acquisition equipment to obtain a target image; determining the direction of the interest point on the target object relative to the image acquisition equipment according to the position of the interest point in the target image; determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device; controlling the distance measuring equipment to measure the actual distance between the interest point on the target object and the distance measuring equipment; and obtaining the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
Specifically, the target image obtained by shooting the target object through the image acquisition device may be unclear, because the position of the target object may be outside the depth of field range of the image acquisition device at this time, and the farther the position of the target object is beyond the depth of field range of the image acquisition device, the less clear the obtained target image. The target object has the interest point, so that the target image obtained by shooting the target object has the interest point.
The method includes determining a direction of an interest point on a target object relative to an image acquisition device by using a position of the interest point in a target image, specifically, identifying the interest point in the target image, acquiring a direction of the interest point in the target image relative to an optical center of a lens of the image acquisition device by using the position of the interest point in the target image, and determining a direction of the interest point on the target object relative to the image acquisition device by using an opposite direction of the interest point in the target image relative to the optical center of the lens of the image acquisition device, namely, a direction of the interest point on the target object relative to the image acquisition device by using an object imaging principle.
After determining the orientation of the point of interest on the target object relative to the image acquisition device, the orientation of the ranging device may be determined and adjusted based on the relative positions of the image acquisition device and the ranging device. Specifically, the distance measuring equipment can be arranged on the holder, and the orientation of the distance measuring equipment is adjusted through the holder.
In a specific implementation, the actual distance between the image acquisition device and the ranging device is usually smaller, and then the direction of the interest point on the target object relative to the image acquisition device may be used as the direction of the interest point on the target object relative to the ranging device, and the orientation of the ranging device is adjusted according to the direction, so that the ranging device is directly facing the interest point on the target object.
In a specific implementation, if the actual distance between the image acquisition device and the ranging device is greater than or equal to the preset distance, the direction of the interest point on the target object relative to the ranging device may be determined in the spatial coordinate system according to the relative position of the ranging device of the image acquisition device and the direction of the interest point on the target object relative to the image acquisition device, and the orientation of the ranging device may be adjusted according to the direction, so that the ranging device is directly opposite to the interest point on the target object.
For example, a coordinate transformation matrix may be determined according to the relative positions of the image acquisition device and the ranging device, and the direction of the point of interest on the target object relative to the ranging device may be obtained according to the coordinate transformation matrix and the direction of the point of interest on the target object relative to the image acquisition device, so as to adjust the orientation of the ranging device according to the direction, and make the ranging device directly face the point of interest on the target object. The coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located, and may include a translation transformation matrix and/or a rotation transformation matrix.
After the orientation of the ranging device is adjusted, the orientation of the ranging device may be a direction directly facing the point of interest on the target object, and at this time, the ranging device may be controlled to measure an actual distance between the point of interest on the target object and the ranging device. The distance measuring equipment can be infrared distance measuring equipment or ultrasonic distance measuring equipment and the like, during specific implementation, infrared rays or ultrasonic waves can be actively transmitted through a signal transmitter of the distance measuring equipment, the infrared rays or the ultrasonic waves are reflected through interest points on a target object, a signal receiver of the distance measuring equipment can receive the reflected infrared rays or the ultrasonic waves, and the test equipment can calculate the actual distance between the interest points on the target object and the distance measuring equipment according to the transmitting time and the receiving time of the infrared rays or the ultrasonic waves.
After the actual distance between the interest point on the target object and the ranging device is obtained, the actual distance between the interest point on the target object and the image acquisition device can be obtained according to the actual distance between the interest point and the testing device. In specific implementation, the actual distance between the image acquisition device and the ranging device is usually small, and the actual distance between the point of interest on the target object and the ranging device can be used as the actual distance between the point of interest on the target object and the image acquisition device. Of course, if the actual distance between the image acquisition device and the ranging device is greater than or equal to the preset distance, the actual distance between the interest point on the target object and the image acquisition device may also be determined in the spatial coordinate system according to the relative positions of the image acquisition device and the ranging device and the actual distance between the interest point on the target object and the ranging device.
As another possible distance acquisition manner, a depth map of the target object may be acquired by a depth camera; acquiring the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera according to the acquired depth map; and obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
Specifically, the depth camera may be at least one of a Time of Flight (TOF) camera, a structured light camera, and a binocular range finding camera, and the obtained depth map may include feature information of the target object, and may reflect an actual distance between a feature point on the target object and the depth camera. The position of the point of interest may be determined from the depth image, i.e. the actual distance between the point of interest on the target object and the depth camera may be obtained. For example, the actual distance between the feature point on the target object and the depth camera may be represented by different colors in the depth map.
Similarly, the actual distance between the point of interest on the target object and the image acquisition device is obtained according to the actual distance between the point of interest on the target object and the depth camera and the direction of the point of interest on the target object relative to the depth camera, which may specifically be: and taking the actual distance between the interest point on the target object and the depth camera as the actual distance between the interest point on the target object and the image acquisition equipment. Of course, if the actual distance between the acquisition device and the depth camera is greater than or equal to the preset distance, the actual distance between the interest point on the target object and the image acquisition device may also be determined in the spatial coordinate system according to the relative position between the image acquisition device and the depth camera, the direction of the interest point on the target object relative to the depth camera, and the actual distance between the interest point on the target object and the depth camera.
As another possible distance obtaining manner, if the interest point on the target object is an eye of a user, one or more light sources may be controlled to illuminate the target object, the target object is photographed by using the image obtaining device to obtain a target image, and the distance between two eyes in the target image may be determined by the target image; if the number of the light sources is multiple, the light sources form reflection points or light spots on the surface of the cornea of the human eye, the light spot distance of the eye in the target image can be determined at the moment, and the actual distance between the eye of the user and the image acquisition equipment is determined according to the distance between the eyes or the distance between the light spots.
The light source may be an infrared light source, the image capturing device may be an infrared image sensor, and optionally, the plurality of light sources may be two sets of light sources on the left and right sides of the image capturing device.
It will be appreciated that the smaller the interocular distance in the target image, the greater the actual distance between the user and the image acquisition device, and similarly, the smaller the interocular distance in the same eye in the target image, the greater the actual distance between the user's eye and the image acquisition device. From this characteristic, a mapping between the spot separation or the binocular separation in the target image and the actual distance may be established, which may be a function, for example, i.e., a function between the spot separation and the actual distance in the target image, or a function between the binocular separation and the actual distance in the target image. By establishing the completed mapping relationship, the actual distance between the user's eye and the image acquisition device can be estimated from the spot separation or binocular separation.
It will be appreciated that the above-described manner of determining the actual distance between the user's eye and the image acquisition device according to the spot separation or the binocular separation may be selected according to actual conditions, for example, when the target image includes two eyes, the actual distance between the user's eye and the image acquisition device may be determined according to the binocular separation.
S102, adjusting the focusing position of the image acquisition equipment according to the actual distance between the interest point on the target object and the image acquisition equipment.
The focus position of the image capturing device is adjusted, specifically, the lens of the image capturing device may be adjusted, for example, a Voice Coil Motor (VCM) may be used to implement linear or limited swing motion, and the position of the lens of the image capturing device is adjusted, so that the focus position of the image capturing device is changed.
The focusing position of the image acquisition device is adjusted according to the actual distance between the interest point on the target object and the image acquisition device, and specifically, the focusing position of the image acquisition device can be adjusted according to the actual distance between the interest point on the target object and the image acquisition device in combination with the depth of field range of the image acquisition device. For example, if the actual distance between the interest point on the target object and the image capturing device is 80 centimeters and the depth of field of the image capturing device is 45 centimeters to 70 centimeters, the focusing position of the image capturing device may be increased, so that the depth of field of the image capturing device may include the actual distance between the interest point on the target object and the image capturing device, specifically, the depth of field of the image capturing device may be adjusted to 60 centimeters to 85 centimeters by increasing the focusing position of the image capturing device, so that the actual distance of 80 centimeters may be included.
According to the focusing method of the image acquisition equipment, the actual distance between the interest point of the target object and the image acquisition equipment is acquired, the image acquisition equipment is used for shooting the target object, the focusing position of the image acquisition equipment is adjusted according to the actual distance between the interest point of the target object and the image acquisition equipment, the depth of field range of the image acquisition equipment is changed, and therefore the target object is located within the depth of field range of the image acquisition equipment, a clear target image is obtained, and accuracy of acquiring the characteristic information of the target object is improved.
Based on the focusing method of the image acquisition device provided by the above embodiment, the embodiment of the application also provides a focusing device of the image acquisition device, and the working principle of the focusing device is described in detail below with reference to the accompanying drawings.
Referring to fig. 2, this figure is a block diagram of a focusing device of an image capturing apparatus according to an embodiment of the present application, where the focusing device includes:
a distance acquisition unit 110, configured to acquire an actual distance between a point of interest on a target object and an image acquisition device, where the image acquisition device is configured to capture the target object;
an adjusting unit 120, configured to adjust a focusing position of the image capturing apparatus according to the actual distance.
Optionally, the distance obtaining unit includes:
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
a first direction determining unit, configured to determine, according to a position of the point of interest in the target image, a direction of the point of interest on the target object relative to the image acquiring apparatus;
the orientation adjusting unit is used for determining and adjusting the orientation of the distance measuring equipment according to the direction of the interest point on the target object relative to the image acquisition equipment;
the distance measurement control unit is used for controlling the distance measurement equipment to measure the actual distance between the interest point and the distance measurement equipment;
and the first distance acquisition subunit is used for acquiring the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
Optionally, the orientation adjusting unit is specifically configured to:
and determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located.
Optionally, the distance measuring device includes an infrared distance measuring device and/or an ultrasonic distance measuring device.
Optionally, the distance obtaining unit includes:
a depth map acquisition unit for acquiring a depth map of the target object by a depth camera;
a distance and direction acquisition unit, configured to acquire, according to the depth map, an actual distance between the point of interest on the target object and the depth camera, and a direction of the point of interest on the target object relative to the depth camera;
and the second distance acquisition subunit is used for obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
Optionally, the depth camera comprises: at least one of a TOF camera, a structured light camera, and a binocular range camera.
Optionally, the point of interest on the target object is an eye of a user, and the distance obtaining unit includes:
a light source control unit for controlling a light source to irradiate the target object;
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
the eye feature acquisition unit is used for determining the facula distance or the binocular distance of the eyes in the target image through the target image;
and the third distance acquisition subunit is used for determining the actual distance between the eyes of the user and the image acquisition equipment according to the light spot distance or the binocular distance.
Optionally, the image acquiring apparatus includes: a CCD camera or a CMOS camera.
Optionally, the adjusting unit is specifically configured to:
and adjusting the focusing position of the image acquisition equipment by utilizing a voice coil motor according to the actual distance.
According to the focusing device of the image acquisition equipment, the actual distance between the interest point of the target object and the image acquisition equipment is acquired, the image acquisition equipment is used for shooting the target object, the focusing position of the image acquisition equipment is adjusted according to the actual distance between the interest point of the target object and the image acquisition equipment, the depth of field range of the image acquisition equipment is changed, and therefore the target object is located within the depth of field range of the image acquisition equipment, a clear target image is obtained, and accuracy of acquiring the characteristic information of the target object is improved.
When introducing elements of various embodiments of the present application, the articles "a," "an," "the," and "said" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
It should be noted that, as one of ordinary skill in the art would understand, all or part of the processes of the above method embodiments may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when executed, the computer program may include the processes of the above method embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, and the units and modules described as separate components may or may not be physically separate. In addition, some or all of the units and modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.
Claims (18)
1. A focusing method of an image capturing apparatus, the method comprising:
acquiring the actual distance between an interest point on a target object and image acquisition equipment, wherein the image acquisition equipment is used for shooting the target object;
adjusting the focusing position of the image acquisition device according to the actual distance and the depth of field range of the image acquisition device, so that the depth of field range of the image acquisition device can include the actual distance between the point of interest on the target object and the image acquisition device, wherein the adjusting the focusing position of the image acquisition device includes:
and adjusting the position of a lens of the image acquisition equipment to change the focusing position of the image acquisition equipment.
2. The method of claim 1, wherein obtaining the actual distance between the point of interest on the target object and the image acquisition device comprises:
shooting a target object by using image acquisition equipment to obtain a target image;
determining the direction of the interest point on the target object relative to the image acquisition equipment according to the position of the interest point in the target image;
determining and adjusting the orientation of a distance measuring device according to the direction of the interest point on the target object relative to the image acquisition device;
controlling the ranging device to measure an actual distance between the interest point and the ranging device;
and obtaining the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
3. The method of claim 2, wherein determining and adjusting the orientation of the ranging device based on the orientation of the point of interest on the target object relative to the image acquisition device comprises:
and determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located.
4. The method of claim 2, wherein the ranging device comprises an infrared ranging device and/or an ultrasonic ranging device.
5. The method of claim 1, wherein said obtaining an actual distance of the point of interest from an image acquisition device comprises:
acquiring a depth map of the target object by a depth camera;
acquiring the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera according to the depth map;
and obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
6. The method of claim 5, wherein the depth camera comprises: at least one of a TOF camera, a structured light camera, and a binocular range camera.
7. The method of claim 1, wherein the point of interest on the target object is an eye of a user, and wherein obtaining the actual distance between the point of interest and an image acquisition device comprises:
controlling a light source to illuminate the target object;
shooting a target object by using image acquisition equipment to obtain a target image;
determining the spot spacing or the binocular spacing of the eyes in the target image through the target image;
and determining the actual distance between the eyes of the user and the image acquisition equipment according to the light spot distance or the binocular distance.
8. The method according to any one of claims 1 to 7, wherein the image acquisition device comprises: a CCD camera or a CMOS camera.
9. The method according to any one of claims 1-7, wherein the adjusting the focus position of the image capturing device according to the actual distance and the depth of field range of the image capturing device comprises:
and adjusting the focusing position of the image acquisition equipment by using a voice coil motor according to the actual distance and the field depth range of the image acquisition equipment.
10. A focusing device of an image pickup apparatus, the device comprising:
the distance acquisition unit is used for acquiring the actual distance between an interest point on a target object and image acquisition equipment, and the image acquisition equipment is used for shooting the target object;
an adjusting unit, configured to adjust a focusing position of the image capturing device according to the actual distance and a depth of field range of the image capturing device, so that the depth of field range of the image capturing device can include the actual distance between the point of interest on the target object and the image capturing device, where the adjusting the focusing position of the image capturing device includes: and adjusting the position of a lens of the image acquisition equipment to change the focusing position of the image acquisition equipment.
11. The apparatus of claim 10, wherein the distance obtaining unit comprises:
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
a first direction determining unit, configured to determine, according to a position of the point of interest in the target image, a direction of the point of interest on the target object relative to the image acquiring apparatus;
the orientation adjusting unit is used for determining and adjusting the orientation of the distance measuring equipment according to the direction of the interest point on the target object relative to the image acquisition equipment;
the distance measurement control unit is used for controlling the distance measurement equipment to measure the actual distance between the interest point and the distance measurement equipment;
and the first distance acquisition subunit is used for acquiring the actual distance between the interest point and the image acquisition equipment according to the actual distance between the interest point and the distance measurement equipment.
12. The apparatus according to claim 11, wherein the orientation adjustment unit is specifically configured to:
and determining and adjusting the orientation of the ranging device according to the direction of the interest point on the target object relative to the image acquisition device and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a conversion relation between a coordinate system where the image acquisition device is located and a coordinate system where the ranging device is located.
13. The apparatus of claim 11, wherein the ranging device comprises an infrared ranging device and/or an ultrasonic ranging device.
14. The apparatus of claim 10, wherein the distance obtaining unit comprises:
a depth map acquisition unit for acquiring a depth map of the target object by a depth camera;
a distance and direction acquisition unit, configured to acquire, according to the depth map, an actual distance between the point of interest on the target object and the depth camera, and a direction of the point of interest on the target object relative to the depth camera;
and the second distance acquisition subunit is used for obtaining the actual distance between the interest point on the target object and the image acquisition equipment according to the actual distance between the interest point on the target object and the depth camera and the direction of the interest point on the target object relative to the depth camera.
15. The apparatus of claim 14, wherein the depth camera comprises: at least one of a TOF camera, a structured light camera, and a binocular range camera.
16. The apparatus of claim 10, wherein the point of interest on the target object is an eye of a user, and wherein the distance acquisition unit comprises:
a light source control unit for controlling a light source to irradiate the target object;
the target image acquisition unit is used for shooting a target object by using image acquisition equipment to obtain a target image;
the eye feature acquisition unit is used for determining the facula distance or the binocular distance of the eyes in the target image through the target image;
and the third distance acquisition subunit is used for determining the actual distance between the eyes of the user and the image acquisition equipment according to the light spot distance or the binocular distance.
17. The apparatus according to any one of claims 10 to 16, wherein the image acquisition device comprises: a CCD camera or a CMOS camera.
18. The device according to any one of claims 10 to 16, wherein the adjustment unit is specifically configured to:
and adjusting the focusing position of the image acquisition equipment by using a voice coil motor according to the actual distance and the field depth range of the image acquisition equipment.
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| CN201810996281.9A CN108833795B (en) | 2018-08-29 | 2018-08-29 | Focusing method and device of image acquisition equipment |
| PCT/CN2019/077312 WO2020042581A1 (en) | 2018-08-29 | 2019-03-07 | Focusing method and device for image acquisition apparatus |
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| CN108833795B (en) * | 2018-08-29 | 2020-06-19 | 北京七鑫易维信息技术有限公司 | Focusing method and device of image acquisition equipment |
| CN109849788B (en) * | 2018-12-29 | 2021-07-27 | 北京七鑫易维信息技术有限公司 | Information providing method, device and system |
| CN109905599A (en) * | 2019-03-18 | 2019-06-18 | 信利光电股份有限公司 | A kind of human eye focusing method, device and readable storage medium storing program for executing |
| CN110276251B (en) * | 2019-05-13 | 2023-07-25 | 联想（上海）信息技术有限公司 | Image recognition method, device, equipment and storage medium |
| CN110225247B (en) * | 2019-05-29 | 2021-06-15 | 联想(北京)有限公司 | Image processing method and electronic equipment |
| CN110225249B (en) * | 2019-05-30 | 2021-04-06 | 深圳市道通智能航空技术有限公司 | Focusing method and device, aerial camera and unmanned aerial vehicle |
| CN110855891A (en) * | 2019-11-26 | 2020-02-28 | 爱菲力斯(深圳)科技有限公司 | Method and device for adjusting camera shooting angle based on human body posture and robot |
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| JP4544282B2 (en) * | 2007-09-14 | 2010-09-15 | ソニー株式会社 | Data processing apparatus, data processing method, and program |
| CN105744163B (en) * | 2016-02-23 | 2019-01-25 | 湖南拓视觉信息技术有限公司 | A kind of video camera and image capture method based on depth information tracking focusing |
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| CN108833795B (en) * | 2018-08-29 | 2020-06-19 | 北京七鑫易维信息技术有限公司 | Focusing method and device of image acquisition equipment |
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