CN110095078A - Imaging method, equipment and computer readable storage medium based on TOF system - Google Patents
Imaging method, equipment and computer readable storage medium based on TOF system Download PDFInfo
- Publication number
- CN110095078A CN110095078A CN201910378736.5A CN201910378736A CN110095078A CN 110095078 A CN110095078 A CN 110095078A CN 201910378736 A CN201910378736 A CN 201910378736A CN 110095078 A CN110095078 A CN 110095078A
- Authority
- CN
- China
- Prior art keywords
- depth
- mould group
- imaging
- tof system
- focusing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- 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
- H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
Abstract
The present invention discloses a kind of imaging method based on TOF system, equipment and computer readable storage medium, wherein the TOF system includes the focusing mould group for shooting picture image, and the imaging method based on TOF system includes: the depth of field for obtaining the focusing mould group；The picture image is controlled to be set in the range of the depth of field；Control the focusing mould group focusing picture image；The focusing mould group is obtained to focus the location information of the picture image；According to the focal length of the fixed focusing mould group of the location information, depth image is generated.Technical solution of the present invention can be measured that stable depth information in Autofocus Technology and TOF technical combinations, it is ensured that form accurate depth image.
Description
Technical field
The present invention relates to TOF measurement technical field, in particular to it is a kind of by the imaging method of TOF system, equipment and based on
Calculation machine readable storage medium storing program for executing.
Background technique
TOF (Time of flight, flight time ranging), is a kind of transmitting light wave, is then connect by sensor record
The light wave being reflected back is received, calculates the round-trip distance of light pulse multiplied by the light velocity by the time, and obtains the skill of the depth information of object
Art.
With the development of the relevant technologies, TOF technology using more and more extensive, such as recognition of face, express delivery scanning, driving
The fields such as safety, intelligent robot and projection touch-control.Current technology scheme is all made of the lens module and TOF skill of fixed-focus
Art combination, as market needs TOF technology to need to arrange in pairs or groups with auto-focusing mould group, but due to the coke of auto-focusing mould group
Away from can be changed, Image display position is caused to be not fixed, further results in TOF mould group shooting picture and RGB auto-focusing mould group is shot
Picture can not close cause, fusion, to generate accurate color depth image.
Summary of the invention
The main object of the present invention is to propose a kind of imaging method based on TOF system, equipment and computer-readable storage
Medium, it is intended to when solving auto-focusing mould group and the combination of TOF technology, it is difficult to the problem of measuring stable depth information.
To achieve the above object, a kind of imaging method based on TOF system proposed by the present invention, the TOF system include
For the focusing mould group of shooting picture image, the imaging method based on TOF system includes:
Obtain the depth of field of the focusing mould group；
The picture image is controlled to be set in the range of the depth of field；
Control the focusing mould group focusing picture image；
The focusing mould group is obtained to focus the location information of the picture image；
According to the focal length of the location information fixed focusing focusing mould group, depth image is generated.
Optionally, the focusing mould group includes imaging len and Infrared Lens, the imaging len have for clearly at
First depth of field of picture, the Infrared Lens have second depth of field for blur-free imaging, the scape for obtaining the focusing mould group
Include: before deep step
Second depth of field of the Infrared Lens is controlled in the range of first depth of field of the imaging len.
Optionally, the step of depth of field for obtaining the focusing mould group includes:
Obtain first depth of field of the imaging len of the focusing mould group.
Optionally, the step of control picture image is set in the range of the depth of field include:
The picture image is controlled to be set in the range of first depth of field.
Optionally, the focusing mould group further includes drive motor, the drive motor by pulse signal drive it is described at
As lens movement, described the step of controlling the focusing mould group focusing picture image, includes:
Obtain pulse signal；
According to the pulse signal, controls the drive motor and drive the imaging len mobile；
Obtain the picture contrast of the picture image；
The peak value for obtaining described image contrast, saves the corresponding pulse signal of the peak value；
According to the corresponding pulse signal of the peak value, controls mobile realize of the imaging len and focus.
Optionally, the pulse signal includes the incidence surface of the imaging len the first pulse value upward, the imaging
Third pulse value of the incidence surface of the incidence surface of lens the second pulse value directed downwardly and the imaging len towards level, institute
State obtain it is described focusing mould group focus the picture image location information the step of include:
Determine the incidence surface direction of the imaging len；
According to the incidence surface direction of the imaging len, extract first pulse value, second pulse value and
At least one pulse value in the third pulse value.
Optionally, the TOF system further includes the depth camera for carrying out depth measurement to picture image, the foundation
The location information, generate depth image the step of include:
According to the pulse value extracted, the position of the fixed imaging len；
According to the position of the imaging len, display information is obtained；
It controls the depth camera and carries out depth measurement, obtain depth information；
According to the display information and the depth information, depth image is generated.
In addition, the present invention also provides a kind of imaging device based on TOF system, the TOF systems to achieve the goals above
System includes the focusing mould group for shooting picture image, and the imaging device based on TOF system includes:
Module is obtained, for obtaining the depth of field of the focusing mould group, and the acquisition focusing mould group focusing picture
The location information of image；
Control module, for controlling in the range of the picture image is set to the depth of field, and the control focusing
The mould group focusing picture image；
Generation module, for generating depth image according to the location information.
In addition, to achieve the goals above the present invention also provides a kind of imaging device based on TOF system, it is described to be based on
The imaging device of TOF system includes: memory, processor and is stored on the memory and can run on the processor
The image forming program based on TOF system；It is described to realize as above when being executed based on the image forming program of TOF system by the processor
The step of described imaging method based on TOF system.
In addition, the present invention also provides a kind of computer readable storage mediums to achieve the goals above, the computer can
It reads to be stored with the image forming program based on TOF system on storage medium, the image forming program based on TOF system is executed by processor
The step of Shi Shixian as described above imaging method based on TOF system.
Technical solution of the present invention is by focusing mould group in shooting picture image, focusing mould group when getting imaging clearly
Location information fixes the focal length for mould group of focusing according to the location information when focusing mould group and the combination of TOF technology, so right
The position that the image of burnt mould group is shown is equally fixed, then by the measurement of TOF technology apart from when, the distance of measurement would not generate change
Change, therefore technical solution of the present invention can obtain stable depth information, it is ensured that form accurate depth image.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is that the present invention is based on the first embodiment flow diagrams of the imaging method of TOF system；
Fig. 2 is that the present invention is based on the second embodiment flow diagrams of the imaging method of TOF system；
Fig. 3 is that the present invention is based on the 3rd embodiment flow diagrams of the imaging method of TOF system；
Fig. 4 is that the present invention is based on the fourth embodiment flow diagrams of the imaging method of TOF system；
Fig. 5 is that the present invention is based on the 5th embodiment flow diagrams of the imaging method of TOF system；
Fig. 6 is that the present invention is based on the sixth embodiment flow diagrams of the imaging method of TOF system；
Fig. 7 is that the present invention is based on the 7th embodiment flow diagrams of the imaging method of TOF system；
Fig. 8 is that the present invention is based on the connection schematic diagrams of the imaging device of TOF system.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 110 | Obtain module | 130 | Generation module |
| 120 | Control module |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
As shown in fig.1, the first embodiment of the present invention, a kind of imaging method based on TOF system proposed by the present invention,
The TOF system includes the focusing mould group for shooting picture image, and the imaging method based on TOF system includes:
Step S10, obtains the depth of field of the focusing mould group, and the depth of field is that image device edge can obtain clear image
Measured subject longitudinal separation range is imaged, the focusing mould group is a kind of auto-focusing mould group (Auto Focus),
Abbreviation AF mould group, such as the rear camera in current smart phone, can auto-focusing, in a certain range to distant view and
Close shot can be shown as clearly image in mobile phone, it can thus be appreciated that the depth of field is a value range.
Step S20 controls the picture image and is set in the range of the depth of field, passes through the fixation picture image position
Motionless, mobile focusing mould group is set, by position setting arbitrary point in the field depth of picture image, is convenient for focusing imaging,
The spaced image of the optional black and white of picture image can also similarly fix the position of focusing mould group, moving image figure
As to arbitrary point in the field depth.
Step S30 controls the focusing mould group focusing picture image, includes imaging len and driving in mould group of focusing
Motor is finely tuned the position of imaging len by drive motor, is that a clearly image can be presented in the picture image.
Step S40 obtains the focusing mould group and focuses the location information of the picture image, and drive motor is to pass through pulse
What signal moved to control imaging len, different pulse signals, imaging len is moved to different positions, that is to say, that pulse
The position of signal and imaging len be it is one-to-one, the location information include pulse signal and it is corresponding with pulse signal at
As the position of lens.
Step S50 generates depth image, then obtain institute according to the focal length of the fixed focusing mould group of the location information
After stating location information, when mould group of focusing and TOF technology combine, according to the mobile imaging lens position of the location information, equally can
Guarantee imaging clearly, the focal length of the position of fixed imaging lens, then mould group of focusing equally immobilizes, then surveys by TOF technology
Span from when, the distance of measurement would not generate variation, and the focusing mould group can also carry out color scheme to the object of shooting,
The depth image of stereo colour can be so generated by focusing mould group and TOF technology combination.
Technical solution of the present invention is by focusing mould group in shooting picture image, focusing mould group when getting imaging clearly
Location information fixes the focal length for mould group of focusing according to the location information when focusing mould group and the combination of TOF technology, so right
The position that the image of burnt mould group is shown is equally fixed, then by the measurement of TOF technology apart from when, the distance of measurement would not generate change
Change, therefore technical solution of the present invention can obtain stable depth information, it is ensured that form accurate depth image.
As shown in fig.2, proposing that second embodiment, the focusing mould group include that imaging is saturating based on the first embodiment present invention
Mirror and Infrared Lens, the imaging len have first depth of field for blur-free imaging, and the Infrared Lens have for clear
Imaging second depth of field, it is described obtain it is described focusing mould group the depth of field step S10 before include:
Step S00 controls second depth of field of the Infrared Lens in the range of first depth of field of the imaging len, institute
Infrared Lens (IR-Lens) is stated using optical glass or coating technique, the focal plane shift of visible light and infrared light is eliminated, guarantees
Light from visible light to infrared light can make image clearly, while increasing to the saturating of infrared light in the same focal plane imaging
The rate of mistake is conducive to also obtain clearly image at night, and the second field depth of Infrared Lens is limited to the of imaging len
In one field depth, guarantee that Infrared Lens and imaging len can be mutually matched, avoids imaging missing or the imaging is not clear.
As shown in fig.3,3rd embodiment is proposed based on the second embodiment present invention, the acquisition focusing mould group
The step S10 of the depth of field includes:
Step S101, obtain it is described focusing mould group imaging len first depth of field, focusing mould group include imaging len and
Infrared Lens, the range of first depth of field of imaging len include the range of second depth of field of Infrared Lens, such as first depth of field is
0.27m-2.5m, second depth of field are 0.36m-1.63m, in this way, being convenient for picture image by first depth of field for obtaining wider range
With wider setting range.
As shown in fig.4, proposing fourth embodiment based on the 3rd embodiment present invention, the control picture image is set
The step S20 being placed in the range of the depth of field includes:
Step S201 controls the picture image and is set in the range of first depth of field, such as first depth of field is
0.27m-2.5m, picture image are set to the position of range Imaging lens 0.5m, it is to be appreciated that the setting position of picture image
It sets and is not limited only to range Imaging lens 0.5m, picture image may be disposed at any bit between range Imaging lens 0.27m-2.5m
It sets, the range of first depth of field by obtaining wider range, guarantees that picture image has wider setting range.
As shown in fig.5, proposing that the 5th embodiment, the focusing mould group further include driving based on the second embodiment present invention
Motor (not shown), the drive motor drive the imaging len mobile by pulse signal, the control focusing mould
The focus step S30 of the picture image of group includes:
Step S301 obtains pulse signal, and the pulse signal can be a kind of current value, i.e., by the size of current value come
Drive the distance of imaging len moving distance.
Step S302 controls the drive motor and drives the imaging len mobile, i.e., to drive according to the pulse signal
When moving drive motor operating, need to input a current value to drive motor, current value is big based on the received for drive motor
It is small, to push the mobile different location of imaging len.
Step S303, obtains the picture contrast of the picture image, and the picture image is a kind of figure at black and white interval
Picture, described image contrast are the brightness contrasts in the image at black and white interval, between most bright white and most dark black, that is, are referred to
The size of image grayscale contrast, contrast is bigger, and the contrast that represents is bigger, and the smaller contrast that represents of contrast is smaller, it will also be appreciated that,
During controlling imaging len movement, picture contrast is also continually changing, that is to say, that described image contrast is one
The value range of a series.
Step S304 obtains the peak value of described image contrast, saves the corresponding pulse signal of the peak value, saturating in imaging
In the moving process of mirror, different pulse signal driving imaging lens is moved to different location, and the different position of imaging len is right
Different picture contrasts should be generated, that is to say, that pulse signal, the position of imaging len and picture contrast three it
Between be one-to-one relationship, when determining the peak value of the maximum value, i.e. picture contrast in picture contrast, same pulse signal
Also determined with the position of imaging len constant, record saves the peak value of picture contrast, just equally saves imaging len
Optimal imaging position.
Step S305 controls mobile realize of the imaging len and focuses, extract according to the corresponding pulse signal of the peak value
The corresponding pulse signal of the peak value, by the output of pulse signal to drive motor, it is corresponding that drive motor receives the peak value
Pulse signal after, driving imaging len be moved to the corresponding position of the pulse signal, it is to be understood that imaging len move
The dynamic corresponding position of the pulse signal is the optimum position of imaging clearly, is achieved in the focus process of focusing mould group, effectively
Improve the readability of imaging.
As shown in fig.6, based on the 5th embodiment present invention propose sixth embodiment, the pulse signal include it is described at
As incidence surface the first pulse value upward of lens, incidence surface the second pulse value directed downwardly of the imaging len and described
The incidence surface of imaging len is described to obtain the focusing mould group and focus the position of the picture image towards horizontal third pulse value
Confidence breath step S40 include:
Step S401 determines the incidence surface direction of the imaging len, saturating in imaging due to being affected by gravity
For the incidence surface of mirror when towards different directions, the power of drive motor output is different, for example, imaging len incidence surface upward when,
Imaging len is influenced by self gravity, needs to overcome weight when drive motor drives imaging len mobile towards incidence surface direction
Power, if the incidence surface of imaging len downward when, imaging len is influenced by self gravity, drive motor drive imaging len court
Incidence surface it is mobile when need to consider the superimposed factor of gravity, if equally being needed when the incidence surface of imaging len is when towards horizontal
Consider the influence of gravity factor, thus the incidence surface of imaging len towards it is different when, the power of drive motor is different, pulse letter
It is number same different.
Step S402 extracts first pulse value, described second according to the incidence surface direction of the imaging len
At least one pulse value in pulse value and the third pulse value, if such as imaging len incidence surface towards upper, extract
First pulse value, if the incidence surface of imaging len extracts the second pulse value under, if the incidence surface of imaging len is towards water
It is flat, then extract third pulse value, it is ensured that imaging len focusing position is accurate, furthermore generally determines imaging len by gyroscope
Incidence surface towards which direction.
As shown in fig.7, proposing the 7th embodiment based on the sixth embodiment present invention, the TOF system further includes being used for
To the depth camera of picture image progress depth measurement, the focal length according to the fixed focusing mould group of the location information,
Generate depth image step S50 include:
Step S501, according to the pulse value extracted, the position of the fixed imaging len, drive motor receives extraction
Pulse value when, push imaging len be moved to corresponding position, the corresponding position can guarantee obtain image be clearly, together
When the imaging len is fixed on the corresponding position, it is to be understood that the position of imaging len is constant, then mould group of focusing
Focal length also immobilize.
Step S502 obtains display information, immobilizes in the position of imaging len according to the position of the imaging len
In the case where, it is acted on by the imaging display of imaging len, light is focused by imaging len, and display is formed on photosensitive element
Information, the display information include display image.
Step S503 controls the depth camera and carries out depth measurement, obtains depth information, depth camera is a kind of utilization
It emits light into the instrument and equipment that the reflected time difference calculates distance and passes through depth in the case where imaging len position is fixed
The measurement for spending camera, can obtain relevant depth information, the depth information includes depth distance.
Step S504 generates depth image according to the display information and the depth information, by will show information with
The depth information combines, and is matched colors by focusing mould group to display image, forms the depth image of stereo colour, thus
In the case that imaging len position is fixed, the depth map of accurate stable can be formed by combining TOF technology to carry out depth measurement
Picture.
As shown in fig.8, the TOF system includes being used for the present invention also provides a kind of imaging device based on TOF system
The focusing mould group (not shown) of shooting picture image, the imaging device based on TOF system include:
Module 110 is obtained, for obtaining the depth of field of the focusing mould group, and the acquisition focusing mould group focusing picture
The location information of face image；
Control module 120, for controlling in the range of the picture image is set to the depth of field, and control is described right
The burnt mould group focusing picture image；
Generation module 130 generates depth image according to the focal length of the fixed focusing mould group of the location information.
Technical solution of the present invention, in shooting picture image, gets imaging by obtaining module 110 by focusing mould group
The location information for mould group of focusing when clear, when focusing mould group and the combination of TOF technology, control module 120 is according to the location information
The focal length for mould group of focusing is fixed, the position that show of image for mould group of so focusing is equally fixed, then by TOF technology measure away from
From when, the distance of measurement would not generate variation, and generation module 130 generates depth image according to the fixation focusing mould group, because
This technical solution of the present invention can obtain stable depth information, it is ensured that form accurate depth image.
In addition, to achieve the goals above the present invention also provides a kind of imaging device based on TOF system, it is described to be based on
The imaging device of TOF system includes: memory, processor and is stored on the memory and can run on the processor
The image forming program based on TOF system；Described called in memory based on the imaging device of TOF system by processor is stored
Image forming program based on TOF system, and execute following operation:
Obtain the depth of field of the focusing mould group；
The picture image is controlled to be set in the range of the depth of field；
Control the focusing mould group focusing picture image；
The focusing mould group is obtained to focus the location information of the picture image；
According to the focal length of the location information fixed focusing focusing mould group, depth image is generated.
Further, the focusing mould group includes imaging len and Infrared Lens, and the imaging len has for clear
First depth of field of imaging, the Infrared Lens have second depth of field for blur-free imaging, and processor calls to be stored in memory
The image forming program based on TOF system, also and execute following operation:
Second depth of field of the Infrared Lens is controlled in the range of first depth of field of the imaging len.
Further, processor calls the image forming program based on TOF system stored in memory, also and executes following behaviour
Make:
Obtain first depth of field of the imaging len of the focusing mould group.
Further, processor calls the image forming program based on TOF system stored in memory, also and executes following behaviour
Make:
The picture image is controlled to be set in the range of first depth of field.
Further, the focusing mould group further includes drive motor, and the drive motor passes through described in pulse signal driving
Imaging len is mobile, and processor calls the image forming program based on TOF system stored in memory, also and executes following operation:
Obtain pulse signal；
According to the pulse signal, controls the drive motor and drive the imaging len mobile；
Obtain the picture contrast of the picture image；
The peak value for obtaining described image contrast, saves the corresponding pulse signal of the peak value；
According to the corresponding pulse signal of the peak value, controls mobile realize of the imaging len and focus.
Further, the pulse signal include the incidence surface of the imaging len the first pulse value upward, it is described at
As the incidence surface of the incidence surface of lens the second pulse value directed downwardly and the imaging len is towards horizontal third pulse value,
Processor calls the image forming program based on TOF system stored in memory, also and executes following operation:
Determine the incidence surface direction of the imaging len；
According to the incidence surface direction of the imaging len, extract first pulse value, second pulse value and
At least one pulse value in the third pulse value.
Further, the TOF system further includes the depth camera for carrying out depth measurement to picture image, processor
The image forming program based on TOF system stored in memory is called, also and executes following operation:
According to the pulse value extracted, the position of the fixed imaging len；
According to the position of the imaging len, display information is obtained；
It controls the depth camera and carries out depth measurement, obtain depth information；
According to the display information and the depth information, depth image is generated.
Technical solution of the present invention is by focusing mould group in shooting picture image, focusing mould group when getting imaging clearly
Location information fixes the focal length for mould group of focusing according to the location information when focusing mould group and the combination of TOF technology, so right
The position that the image of burnt mould group is shown is equally fixed, then by the measurement of TOF technology apart from when, the distance of measurement would not generate change
Change, therefore technical solution of the present invention can obtain stable depth information, it is ensured that form accurate depth image.
In addition, the present invention also provides a kind of computer readable storage mediums to achieve the goals above, the computer can
Read to be stored with the image forming program based on TOF system on storage medium, the image forming program based on TOF system can by one or
More than one processor is executed to be used for:
Obtain the depth of field of the focusing mould group；
The picture image is controlled to be set in the range of the depth of field；
Control the focusing mould group focusing picture image；
The focusing mould group is obtained to focus the location information of the picture image；
According to the focal length of the location information fixed focusing focusing mould group, depth image is generated.
Further, the focusing mould group includes imaging len and Infrared Lens, and the imaging len has for clear
First depth of field of imaging, the Infrared Lens have second depth of field for blur-free imaging, the imaging journey based on TOF system
Following operation is also realized when sequence is executed by processor:
Second depth of field of the Infrared Lens is controlled in the range of first depth of field of the imaging len.
Further, following operation is also realized when the image forming program based on TOF system is executed by processor:
Obtain first depth of field of the imaging len of the focusing mould group.
Further, following operation is also realized when the image forming program based on TOF system is executed by processor:
The picture image is controlled to be set in the range of first depth of field.
Further, the focusing mould group further includes drive motor, and the drive motor passes through described in pulse signal driving
Imaging len is mobile, and following operation is also realized when the image forming program based on TOF system is executed by processor:
Obtain pulse signal；
According to the pulse signal, controls the drive motor and drive the imaging len mobile；
Obtain the picture contrast of the picture image；
The peak value for obtaining described image contrast, saves the corresponding pulse signal of the peak value；
According to the corresponding pulse signal of the peak value, controls mobile realize of the imaging len and focus.
Further, the pulse signal include the incidence surface of the imaging len the first pulse value upward, it is described at
As the incidence surface of the incidence surface of lens the second pulse value directed downwardly and the imaging len is towards horizontal third pulse value,
Following operation is also realized when the image forming program based on TOF system is executed by processor:
Determine the incidence surface direction of the imaging len；
According to the incidence surface direction of the imaging len, extract first pulse value, second pulse value and
At least one pulse value in the third pulse value.
Further, the TOF system further includes the depth camera for carrying out depth measurement to picture image, the base
Following operation is also realized when the image forming program of TOF system is executed by processor:
According to the pulse value extracted, the position of the fixed imaging len；
According to the position of the imaging len, display information is obtained；
It controls the depth camera and carries out depth measurement, obtain depth information；
According to the display information and the depth information, depth image is generated.
Technical solution of the present invention is by focusing mould group in shooting picture image, focusing mould group when getting imaging clearly
Location information fixes the focal length for mould group of focusing according to the location information when focusing mould group and the combination of TOF technology, so right
The position that the image of burnt mould group is shown is equally fixed, then by the measurement of TOF technology apart from when, the distance of measurement would not generate change
Change, therefore technical solution of the present invention can obtain stable depth information, it is ensured that form accurate depth image.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of imaging method based on TOF system, which is characterized in that the TOF system includes for shooting picture image
Focusing mould group, the imaging method based on TOF system include:
Obtain the depth of field of the focusing mould group；
The picture image is controlled to be set in the range of the depth of field；
Control the focusing mould group focusing picture image；
The focusing mould group is obtained to focus the location information of the picture image；
According to the focal length of the fixed focusing mould group of the location information, depth image is generated.
2. as described in claim 1 based on the imaging method of TOF system, which is characterized in that the focusing mould group includes imaging
Lens and Infrared Lens, the imaging len have first depth of field for blur-free imaging, and the Infrared Lens have for clear
Include: before the step of second depth of field of clear imaging, the depth of field for obtaining the focusing mould group
Second depth of field of the Infrared Lens is controlled in the range of first depth of field of the imaging len.
3. as claimed in claim 2 based on the imaging method of TOF system, which is characterized in that described to obtain the focusing mould group
The depth of field the step of include:
Obtain first depth of field of the imaging len of the focusing mould group.
4. as claimed in claim 3 based on the imaging method of TOF system, which is characterized in that the control picture image
The step of being set in the range of the depth of field include:
The picture image is controlled to be set in the range of first depth of field.
5. as claimed in claim 2 based on the imaging method of TOF system, which is characterized in that the focusing mould group further includes driving
Dynamic motor, the drive motor drive the imaging len mobile by pulse signal, the control focusing mould group focusing
The step of picture image includes:
Obtain pulse signal；
According to the pulse signal, controls the drive motor and drive the imaging len mobile；
Obtain the picture contrast of the picture image；
The peak value for obtaining described image contrast, saves the corresponding pulse signal of the peak value；
According to the corresponding pulse signal of the peak value, controls mobile realize of the imaging len and focus.
6. as claimed in claim 5 based on the imaging method of TOF system, which is characterized in that the pulse signal includes described
Incidence surface the second pulse value directed downwardly, the Yi Jisuo of the incidence surface of imaging len the first pulse value upward, the imaging len
The incidence surface of imaging len is stated towards horizontal third pulse value, it is described to obtain the focusing mould group and focus the picture image
The step of location information includes:
Determine the incidence surface direction of the imaging len；
According to the incidence surface direction of the imaging len, first pulse value, second pulse value and described are extracted
At least one pulse value in third pulse value.
7. as claimed in claim 6 based on the imaging method of TOF system, which is characterized in that the TOF system further includes being used for
To the depth camera of picture image progress depth measurement, the focal length according to the fixed focusing mould group of the location information,
Generate depth image the step of include:
According to the pulse value extracted, the position of the fixed imaging len；
According to the position of the imaging len, display information is obtained；
It controls the depth camera and carries out depth measurement, obtain depth information；
According to the display information and the depth information, depth image is generated.
8. a kind of imaging device based on TOF system, which is characterized in that the TOF system includes for shooting picture image
Focusing mould group, the imaging device based on TOF system include:
Module is obtained, for obtaining the depth of field of the focusing mould group, and the acquisition focusing mould group focusing picture image
Location information；
Control module, for controlling in the range of the picture image is set to the depth of field, and the control focusing mould group
It focuses the picture image；
Generation module generates depth image for the focal length according to the fixed focusing mould group of the location information.
9. a kind of imaging device based on TOF system, which is characterized in that the imaging device based on TOF system includes: storage
Device, processor and it is stored in the image forming program based on TOF system that can be run on the memory and on the processor；Institute
It states and realizes such as of any of claims 1-7 be based on when the image forming program based on TOF system is executed by the processor
The step of imaging method of TOF system.
10. a kind of computer readable storage medium, which is characterized in that be stored with and be based on the computer readable storage medium
The image forming program of TOF system is realized when the image forming program based on TOF system is executed by processor as in claim 1-7
The step of described in any item imaging methods based on TOF system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910378736.5A CN110095078B (en) | 2019-05-07 | 2019-05-07 | Imaging method and device based on TOF system and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910378736.5A CN110095078B (en) | 2019-05-07 | 2019-05-07 | Imaging method and device based on TOF system and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110095078A true CN110095078A (en) | 2019-08-06 |
| CN110095078B CN110095078B (en) | 2021-02-23 |
Family
ID=67447273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910378736.5A Active CN110095078B (en) | 2019-05-07 | 2019-05-07 | Imaging method and device based on TOF system and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110095078B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5464985A (en) * | 1993-10-01 | 1995-11-07 | The Johns Hopkins University | Non-linear field reflectron |
| CN101632295A (en) * | 2007-03-09 | 2010-01-20 | 伊斯曼柯达公司 | Multiple lens camera operable in various modes |
| CN101926640A (en) * | 2009-06-22 | 2010-12-29 | 中国科学院光电技术研究所 | Dynamic imager of living human eye retina |
| CN107003121A (en) * | 2014-12-09 | 2017-08-01 | 巴斯夫欧洲公司 | Fluorescence detector |
| US20180341023A1 (en) * | 2013-09-05 | 2018-11-29 | Texas Instruments Incorporated | Time-of-Flight (TOF) Assisted Structured Light Imaging |
| CN108965579A (en) * | 2018-06-05 | 2018-12-07 | Oppo广东移动通信有限公司 | Method and device thereof, terminal and the storage medium of ranging are realized based on TOF camera |
| CN109089047A (en) * | 2018-09-29 | 2018-12-25 | Oppo广东移动通信有限公司 | Control method and apparatus, the storage medium, electronic equipment of focusing |
-
2019
- 2019-05-07 CN CN201910378736.5A patent/CN110095078B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5464985A (en) * | 1993-10-01 | 1995-11-07 | The Johns Hopkins University | Non-linear field reflectron |
| CN101632295A (en) * | 2007-03-09 | 2010-01-20 | 伊斯曼柯达公司 | Multiple lens camera operable in various modes |
| CN101926640A (en) * | 2009-06-22 | 2010-12-29 | 中国科学院光电技术研究所 | Dynamic imager of living human eye retina |
| US20180341023A1 (en) * | 2013-09-05 | 2018-11-29 | Texas Instruments Incorporated | Time-of-Flight (TOF) Assisted Structured Light Imaging |
| CN107003121A (en) * | 2014-12-09 | 2017-08-01 | 巴斯夫欧洲公司 | Fluorescence detector |
| CN108965579A (en) * | 2018-06-05 | 2018-12-07 | Oppo广东移动通信有限公司 | Method and device thereof, terminal and the storage medium of ranging are realized based on TOF camera |
| CN109089047A (en) * | 2018-09-29 | 2018-12-25 | Oppo广东移动通信有限公司 | Control method and apparatus, the storage medium, electronic equipment of focusing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110095078B (en) | 2021-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1926851B (en) | Method and apparatus for optimizing capture device settings through depth information | |
| CN100579179C (en) | Auto-focus apparatus, image capture apparatus, and auto-focus method | |
| CN100581220C (en) | Image-pickup apparatus and focus control method for the same | |
| CN103048846B (en) | Focus-regulating device and control method thereof | |
| US8830381B2 (en) | Imaging device and method to provide bokeh effect in captured image by determining distance and focus of captured objects in secondary image sequence | |
| CN103430073A (en) | Imaging device, method for controlling imaging device, and program | |
| CN101621625A (en) | Image pickup apparatus and method of controlling the same | |
| CN104052932A (en) | Rapidly-focusing mobile phone camera shooting module | |
| CN105230001A (en) | Method, the image processing program of image processing equipment, process image, and imaging device | |
| CN107424186A (en) | depth information measuring method and device | |
| CN102959941A (en) | Information processing system, information processing device, and information processing method | |
| CN102890329B (en) | Focus controller | |
| CN104871059B (en) | Photographic equipment, calculate the method for information and camera system controlled for focusing | |
| EP2557771B1 (en) | Focus detector, and lens apparatus and image pickup apparatus including the same | |
| US20130044226A1 (en) | Imaging device and distance information detecting method | |
| US20180027172A1 (en) | Focus adjusting apparatus, focus adjusting method, image capturing apparatus, and storage medium | |
| CN106416217A (en) | Depth assisted scene recognition for a camera | |
| CN104049338A (en) | Digital microscope apparatus, method of searching for in-focus position thereof, and program | |
| CN108139561A (en) | Photographic device and image capture method | |
| US8537261B2 (en) | Image-capturing apparatus and computer-readable computer program product containing image analysis computer program | |
| JP2012015642A (en) | Imaging device | |
| CN104641275A (en) | Imaging control device, imaging device, and method for controlling imaging control device | |
| CN105472237A (en) | Imaging apparatus and imaging method | |
| CN105049717A (en) | Pupil control automatic focusing method for digital camera and system | |
| CN103852954A (en) | Method for achieving phase focusing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201014 Address after: 261031, north of Jade East Street, Dongming Road, Weifang hi tech Zone, Shandong province (GoerTek electronic office building, Room 502) Applicant after: GoerTek Optical Technology Co.,Ltd. Address before: 261031 Dongfang Road, Weifang high tech Industrial Development Zone, Shandong, China, No. 268 Applicant before: GOERTEK Inc. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |