CN110095078B - Imaging method and device based on TOF system and computer readable storage medium - Google Patents
Imaging method and device based on TOF system and computer readable storage medium Download PDFInfo
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- CN110095078B CN110095078B CN201910378736.5A CN201910378736A CN110095078B CN 110095078 B CN110095078 B CN 110095078B CN 201910378736 A CN201910378736 A CN 201910378736A CN 110095078 B CN110095078 B CN 110095078B
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- 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
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- 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
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- 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
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- 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
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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
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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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
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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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
- 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
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Abstract
The invention discloses an imaging method, equipment and a computer readable storage medium based on a TOF system, wherein the TOF system comprises a focusing module used for shooting picture images, and the imaging method based on the TOF system comprises the following steps: acquiring the depth of field of the focusing module; controlling the picture image to be arranged in the range of the depth of field; controlling the focusing module to focus the picture image; acquiring the position information of the focusing module for focusing the picture image; and fixing the focal length of the focusing module according to the position information to generate a depth image. According to the technical scheme, when the automatic focusing technology and the TOF technology are combined, stable depth information can be measured, and accurate depth images are guaranteed to be formed.
Description
Technical Field
The invention relates to the technical field of TOF ranging, in particular to an imaging method and equipment based on a TOF system and a computer readable storage medium.
Background
TOF (Time of flight ranging), which is a technique of emitting light waves, then receiving the reflected light waves through a sensor record, calculating the round-trip distance of the light pulses by multiplying the Time by the speed of light, and obtaining the depth information of the object.
With the development of related technologies, TOF technologies are more and more widely applied, for example, in the fields of face recognition, express scanning, driving safety, intelligent robots, projection touch control and the like. The current technical scheme all adopts the combination of the lens module of fixed focus and TOF technique, needs TOF technique along with the market to arrange with the auto focus module, but because the focus of auto focus module is variable, leads to the image display position unfixed, further leads to TOF module to shoot the picture and the picture can't close, fuse with RGB auto focus module to generate accurate color depth image.
Disclosure of Invention
The invention mainly aims to provide an imaging method and equipment based on a TOF system and a computer readable storage medium, and aims to solve the problem that stable depth information is difficult to measure when an automatic focusing module is combined with TOF technology.
In order to achieve the above object, the present invention provides an imaging method based on a TOF system, where the TOF system includes a focusing module for capturing an image of a frame, and the imaging method based on the TOF system includes:
acquiring the depth of field of the focusing module;
controlling the picture image to be arranged in the range of the depth of field;
controlling the focusing module to focus the picture image;
acquiring the position information of the focusing module for focusing the picture image;
and fixing the focal length for focusing the focusing module according to the position information to generate a depth image.
Optionally, the focusing module includes an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, and the step of obtaining the depth of field of the focusing module includes:
and controlling the second depth of field of the infrared lens to be within the range of the first depth of field of the imaging lens.
Optionally, the step of acquiring the depth of field of the focusing module includes:
and acquiring a first depth of field of an imaging lens of the focusing module.
Optionally, the step of controlling the screen image to be set within the range of the depth of field includes:
and controlling the picture image to be arranged in the range of the first depth of field.
Optionally, the focusing module further includes a driving motor, the driving motor drives the imaging lens to move through a pulse signal, and the step of controlling the focusing module to focus the picture image includes:
acquiring a pulse signal;
controlling the driving motor to drive the imaging lens to move according to the pulse signal;
acquiring the image contrast of the picture image;
acquiring a peak value of the image contrast, and storing a pulse signal corresponding to the peak value;
and controlling the imaging lens to move to realize focusing according to the pulse signal corresponding to the peak value.
Optionally, the pulse signal includes a first pulse value of the imaging lens with the incident surface facing upward, a second pulse value of the imaging lens with the incident surface facing downward, and a third pulse value of the imaging lens with the incident surface facing horizontal, and the step of acquiring the position information of the focusing module focusing the image includes:
determining the direction of the light incident surface of the imaging lens;
and extracting at least one pulse value of the first pulse value, the second pulse value and the third pulse value according to the direction of the light incident surface of the imaging lens.
Optionally, the TOF system further includes a depth camera for performing depth measurement on the frame image, and the step of generating the depth image according to the position information includes:
fixing the position of the imaging lens according to the extracted pulse value;
acquiring display information according to the position of the imaging lens;
controlling the depth camera to carry out depth measurement to obtain depth information;
and generating a depth image according to the display information and the depth information.
In addition, in order to achieve the above object, the present invention further provides an imaging apparatus based on a TOF system, the TOF system including a focusing module for taking a picture image, the imaging apparatus based on the TOF system including:
the acquisition module is used for acquiring the depth of field of the focusing module and acquiring the position information of the focusing module for focusing the picture image;
the control module is used for controlling the picture image to be arranged in the range of the depth of field and controlling the focusing module to focus the picture image;
and the generating module is used for generating a depth image according to the position information.
Furthermore, the present invention also provides an imaging apparatus based on a TOF system in order to achieve the above object, the imaging apparatus based on a TOF system including: a memory, a processor, and a TOF system based imaging program stored on the memory and executable on the processor; the imaging program based on TOF system, when executed by the processor, implements the steps of the imaging method based on TOF system as described above.
Furthermore, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a TOF system based imaging program which, when executed by a processor, implements the steps of the TOF system based imaging method as described above.
According to the technical scheme, when the focusing module is used for shooting the picture image, the position information of the focusing module when the image is clear is acquired, when the focusing module is combined with the TOF technology, the focal length of the focusing module is fixed according to the position information, so that the image display position of the focusing module is fixed, and when the distance is measured through the TOF technology, the measured distance cannot change.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a first embodiment of a TOF system based imaging method of the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of a TOF system based imaging method of the present invention;
FIG. 3 is a schematic flow chart of a third embodiment of a TOF system based imaging method of the present invention;
FIG. 4 is a schematic flow chart of a fourth embodiment of a TOF system based imaging method of the present invention;
FIG. 5 is a schematic flow chart of a fifth embodiment of a TOF system based imaging method of the present invention;
FIG. 6 is a schematic flow chart of a sixth embodiment of a TOF system based imaging method of the present invention;
FIG. 7 is a schematic flow chart diagram illustrating a seventh embodiment of a TOF system based imaging method according to the present invention;
fig. 8 is a schematic diagram of the connection of an imaging device based on a TOF system according to the invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 110 | |
130 | |
| 120 | Control module |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1, a first embodiment of the present invention provides an imaging method based on a TOF system, where the TOF system includes a focusing module for capturing an image of a frame, and the imaging method based on the TOF system includes:
step S10, obtaining the depth of field of the focusing module, where the depth of field is the front-back distance range of the object to be shot measured by the imaging device along the image that can obtain a clear image, and the focusing module is an Auto Focus module (AF module for short), for example, a rear camera in a current smart phone can automatically Focus, and can display a clear image in the phone for both a long-distance view and a short-distance view within a certain range, so that the depth of field is known to be a range value.
And step S20, controlling the picture image to be arranged in the range of the depth of field, fixing the position of the picture image without moving, moving the focusing module, arranging the position of the picture image at any point in the range of the depth of field, so as to facilitate focusing and imaging, selecting images arranged at intervals of black and white from the picture image, and similarly fixing the position of the focusing module and moving the picture image to any point in the range of the depth of field.
And step S30, controlling the focusing module to focus the picture image, wherein the focusing module comprises an imaging lens and a driving motor, and the driving motor is used for finely adjusting the position of the imaging lens, so that the picture image can present a clear image.
Step S40, obtaining position information of the focusing module focusing the image, the driving motor controlling the imaging lens to move through the pulse signal, the imaging lens moves to different positions through different pulse signals, that is, the pulse signal and the position of the imaging lens are in one-to-one correspondence, and the position information includes the pulse signal and the position of the imaging lens corresponding to the pulse signal.
Step S50, fixing the focal length of the focusing module according to the position information to generate a depth image, after the position information is obtained again, when the focusing module is combined with the TOF technology, moving the position of the imaging lens according to the position information to ensure clear imaging, fixing the position of the imaging lens, fixing the focal length of the focusing module, when the distance is measured by the TOF technology, the measured distance does not change, and the focusing module can also carry out color configuration on the shot object, so that a three-dimensional colorful depth image can be generated by combining the focusing module with the TOF technology.
According to the technical scheme, when the focusing module is used for shooting the picture image, the position information of the focusing module when the image is clear is acquired, when the focusing module is combined with the TOF technology, the focal length of the focusing module is fixed according to the position information, so that the image display position of the focusing module is fixed, and when the distance is measured through the TOF technology, the measured distance cannot change.
Referring to fig. 2, based on the first embodiment, the present invention provides a second embodiment, in which the focusing module includes an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, and the step S10 of obtaining the depth of field of the focusing module includes:
and S00, controlling the second depth of field of the infrared Lens to be within the range of the first depth of field of the imaging Lens, eliminating focal plane offset of visible light and infrared light by the infrared Lens (IR-Lens) by using optical glass or a coating technology, ensuring that light rays from the visible light to the infrared light can be imaged on the same focal plane, enabling the image to be clear, increasing the transmittance of the infrared light to be beneficial to obtaining a clear image at night, limiting the second depth of field range of the infrared Lens within the range of the first depth of field of the imaging Lens, ensuring that the infrared Lens and the imaging Lens can be matched with each other, and avoiding imaging loss or imaging unclear.
Referring to fig. 3, based on the second embodiment, the third embodiment of the present invention is provided, wherein the step S10 of acquiring the depth of field of the focusing module includes:
step S101, acquiring a first depth of field of an imaging lens of the focusing module, where the focusing module includes the imaging lens and an infrared lens, and the range of the first depth of field of the imaging lens includes a range of a second depth of field of the infrared lens, for example, the first depth of field is 0.27m to 2.5m, and the second depth of field is 0.36m to 1.63m, so that the image has a wider setting range by acquiring the first depth of field with a wider range.
Referring to fig. 4, according to a fourth embodiment of the present invention, the step S20 of controlling the frame image to be set within the depth of field includes:
step S201, controlling the frame image to be set within the range of the first depth of field, for example, the first depth of field is 0.27m to 2.5m, and the frame image is set at a position 0.5m away from the imaging lens, it can be understood that the setting position of the frame image is not limited to 0.5m away from the imaging lens, and the frame image can be set at any position 0.27m to 2.5m away from the imaging lens, and by obtaining the range of the first depth of field with a wider range, the frame image is ensured to have a wider setting range.
Referring to fig. 5, according to a fifth embodiment of the present invention based on the second embodiment, the focusing module further includes a driving motor (not shown) that drives the imaging lens to move by a pulse signal, and the step S30 of controlling the focusing module to focus the picture image includes:
in step S301, a pulse signal is obtained, where the pulse signal may be a current value, and the magnitude of the current value drives the distance that the imaging lens moves.
Step S302, controlling the driving motor to drive the imaging lens to move according to the pulse signal, that is, when the driving motor is driven to operate, a current value needs to be input to the driving motor, and the driving motor pushes the imaging lens to move to different positions according to the received current value.
Step S303, obtaining an image contrast of the picture image, where the picture image is a black-and-white interval image, and the image contrast is a brightness contrast between the brightest white and the darkest black in the black-and-white interval image, that is, a magnitude of an image gray scale contrast, where a larger contrast represents a larger contrast, and a smaller contrast represents a smaller contrast, and it can also be known that the image contrast is also constantly changed in the process of controlling the movement of the imaging lens, that is, the image contrast is a series of range values.
Step S304, obtaining a peak value of the image contrast, storing a pulse signal corresponding to the peak value, in the moving process of the imaging lens, driving the imaging lens to move to different positions by different pulse signals, and generating different image contrasts correspondingly at different positions of the imaging lens, that is, the pulse signal, the position of the imaging lens, and the image contrast are in a one-to-one correspondence relationship, determining a maximum value in the image contrast, that is, when the peak value of the image contrast is determined, the positions of the pulse signal and the imaging lens are also determined to be unchanged, recording the peak value of the image contrast, and then storing the optimal imaging position of the imaging lens.
Step S305, controlling the imaging lens to move to realize focusing according to the pulse signal corresponding to the peak value, extracting the pulse signal corresponding to the peak value, outputting the pulse signal to the driving motor, and after the driving motor receives the pulse signal corresponding to the peak value, driving the imaging lens to move to a position corresponding to the pulse signal.
Referring to fig. 6, based on the fifth embodiment and the sixth embodiment provided by the present invention, the pulse signal includes a first pulse value of the imaging lens with the incident surface facing upward, a second pulse value of the imaging lens with the incident surface facing downward, and a third pulse value of the imaging lens with the incident surface facing horizontal, and the step S40 of acquiring the position information of the focusing module focusing on the picture image includes:
step S401, determining the direction of the light incident surface of the imaging lens, wherein due to the influence of gravity, when the light incident surface of the imaging lens faces different directions, the power output by the driving motor is different, for example, when the light incident surface of the imaging lens faces upward, the imaging lens is influenced by its own gravity, and when the driving motor drives the imaging lens to move toward the light incident surface, the gravity needs to be overcome.
Step S402, extracting at least one pulse value of the first pulse value, the second pulse value, and the third pulse value according to the direction of the light incident surface of the imaging lens, for example, if the light incident surface of the imaging lens faces upward, extracting the first pulse value, if the light incident surface of the imaging lens faces downward, extracting the second pulse value, if the light incident surface of the imaging lens faces horizontal, extracting the third pulse value, so as to ensure that the focusing position of the imaging lens is accurate, and in addition, determining the direction of the light incident surface of the imaging lens faces through a gyroscope.
Referring to fig. 7, based on the sixth embodiment, the present invention proposes a seventh embodiment, where the TOF system further includes a depth camera for performing depth measurement on a picture image, and the step S50 of fixing the focal length of the focusing module according to the position information and generating a depth image includes:
step S501, fixing the position of the imaging lens according to the extracted pulse value, and when the driving motor receives the extracted pulse value, pushing the imaging lens to move to a corresponding position, where the corresponding position can ensure that the obtained image is clear, and fixing the imaging lens at the corresponding position, it can be understood that the position of the imaging lens is not changed, and the focal length of the focusing module is also fixed.
Step S502, obtaining display information according to the position of the imaging lens, and under the condition that the position of the imaging lens is fixed, forming display information on the photosensitive element by focusing light rays through the imaging lens under the imaging display effect of the imaging lens, wherein the display information comprises a display image.
And step S503, controlling the depth camera to perform depth measurement to acquire depth information, wherein the depth camera is an instrument device for calculating a distance by using a time difference from emitted light to reflected light, and under the condition that the position of the imaging lens is fixed, the depth camera can acquire related depth information through measurement, and the depth information comprises a depth distance.
And step S504, generating a depth image according to the display information and the depth information, combining the display information and the depth information, and performing color matching on the display image through a focusing module to form a three-dimensional colorful depth image, so that under the condition that the position of the imaging lens is fixed, depth measurement can be performed through combining a TOF technology to form an accurate and stable depth image.
Referring to fig. 8, the present invention further provides an imaging apparatus based on a TOF system, the TOF system including a focusing module (not shown) for capturing a picture image, the imaging apparatus based on the TOF system including:
the obtaining module 110 is configured to obtain a depth of field of the focusing module, and obtain position information of the focusing module focusing on the picture image;
the control module 120 is configured to control the picture image to be set within the range of the depth of field, and control the focusing module to focus the picture image;
the generating module 130 fixes the focal length of the focusing module according to the position information to generate a depth image.
According to the technical scheme, when a picture image is shot through a focusing module, the position information of the focusing module when the image is clear is obtained through the obtaining module 110, when the focusing module is combined with the TOF technology, the control module 120 fixes the focal length of the focusing module according to the position information, so that the image display position of the focusing module is fixed, the distance measured cannot change when the distance is measured through the TOF technology, and the generating module 130 generates the depth image according to the fixed focusing module.
Furthermore, the present invention also provides an imaging apparatus based on a TOF system in order to achieve the above object, the imaging apparatus based on a TOF system including: a memory, a processor, and a TOF system based imaging program stored on the memory and executable on the processor; the imaging device based on the TOF system calls an imaging program based on the TOF system stored in a memory through a processor and executes the following operations:
acquiring the depth of field of the focusing module;
controlling the picture image to be arranged in the range of the depth of field;
controlling the focusing module to focus the picture image;
acquiring the position information of the focusing module for focusing the picture image;
and fixing the focal length for focusing the focusing module according to the position information to generate a depth image.
Further, the focusing module comprises an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, the processor calls an imaging program based on the TOF system stored in the memory, and further performs the following operations:
and controlling the second depth of field of the infrared lens to be within the range of the first depth of field of the imaging lens.
Further, the processor invokes an imaging program based on the TOF system stored in the memory and performs the following operations:
and acquiring a first depth of field of an imaging lens of the focusing module.
Further, the processor invokes an imaging program based on the TOF system stored in the memory and performs the following operations:
and controlling the picture image to be arranged in the range of the first depth of field.
Further, the focusing module further comprises a driving motor, the driving motor drives the imaging lens to move through a pulse signal, the processor calls an imaging program based on the TOF system stored in the memory, and the following operations are further performed:
acquiring a pulse signal;
controlling the driving motor to drive the imaging lens to move according to the pulse signal;
acquiring the image contrast of the picture image;
acquiring a peak value of the image contrast, and storing a pulse signal corresponding to the peak value;
and controlling the imaging lens to move to realize focusing according to the pulse signal corresponding to the peak value.
Further, the pulse signal includes a first pulse value of the imaging lens with the upward incident surface, a second pulse value of the imaging lens with the downward incident surface, and a third pulse value of the imaging lens with the horizontal incident surface, and the processor invokes an imaging program based on the TOF system stored in the memory, and further performs the following operations:
determining the direction of the light incident surface of the imaging lens;
and extracting at least one pulse value of the first pulse value, the second pulse value and the third pulse value according to the direction of the light incident surface of the imaging lens.
Further, the TOF system further comprises a depth camera for depth measurement of the picture image, and the processor calls an imaging program based on the TOF system stored in the memory and performs the following operations:
fixing the position of the imaging lens according to the extracted pulse value;
acquiring display information according to the position of the imaging lens;
controlling the depth camera to carry out depth measurement to obtain depth information;
and generating a depth image according to the display information and the depth information.
According to the technical scheme, when the focusing module is used for shooting the picture image, the position information of the focusing module when the image is clear is acquired, when the focusing module is combined with the TOF technology, the focal length of the focusing module is fixed according to the position information, so that the image display position of the focusing module is fixed, and when the distance is measured through the TOF technology, the measured distance cannot change.
Furthermore, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a TOF system based imaging program executable by one or more processors for:
acquiring the depth of field of the focusing module;
controlling the picture image to be arranged in the range of the depth of field;
controlling the focusing module to focus the picture image;
acquiring the position information of the focusing module for focusing the picture image;
and fixing the focal length for focusing the focusing module according to the position information to generate a depth image.
Further, the focusing module comprises an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, and when executed by the processor, the imaging program based on the TOF system further realizes the following operations:
and controlling the second depth of field of the infrared lens to be within the range of the first depth of field of the imaging lens.
Further, the TOF system based imaging program when executed by the processor further performs the following operations:
and acquiring a first depth of field of an imaging lens of the focusing module.
Further, the TOF system based imaging program when executed by the processor further performs the following operations:
and controlling the picture image to be arranged in the range of the first depth of field.
Further, the focusing module further comprises a driving motor, the driving motor drives the imaging lens to move through a pulse signal, and when executed by the processor, the imaging program based on the TOF system further realizes the following operations:
acquiring a pulse signal;
controlling the driving motor to drive the imaging lens to move according to the pulse signal;
acquiring the image contrast of the picture image;
acquiring a peak value of the image contrast, and storing a pulse signal corresponding to the peak value;
and controlling the imaging lens to move to realize focusing according to the pulse signal corresponding to the peak value.
Further, the pulse signal includes a first pulse value of the imaging lens with the incident surface facing upward, a second pulse value of the imaging lens with the incident surface facing downward, and a third pulse value of the imaging lens with the incident surface facing horizontal, and when being executed by the processor, the imaging program based on the TOF system further implements the following operations:
determining the direction of the light incident surface of the imaging lens;
and extracting at least one pulse value of the first pulse value, the second pulse value and the third pulse value according to the direction of the light incident surface of the imaging lens.
Further, the TOF system further comprises a depth camera for depth measurement of the frame image, the imaging program based on the TOF system when executed by the processor further performs the following operations:
fixing the position of the imaging lens according to the extracted pulse value;
acquiring display information according to the position of the imaging lens;
controlling the depth camera to carry out depth measurement to obtain depth information;
and generating a depth image according to the display information and the depth information.
According to the technical scheme, when the focusing module is used for shooting the picture image, the position information of the focusing module when the image is clear is acquired, when the focusing module is combined with the TOF technology, the focal length of the focusing module is fixed according to the position information, so that the image display position of the focusing module is fixed, and when the distance is measured through the TOF technology, the measured distance cannot change.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An imaging method based on a TOF system, wherein the TOF system comprises a focusing module for taking a picture image, the focusing module comprises an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, and the imaging method based on the TOF system comprises:
acquiring the depth of field of the focusing module;
controlling the picture image to be arranged in the range of the depth of field;
controlling the focusing module to focus the picture image;
acquiring the position information of the focusing module for focusing the picture image;
and fixing the focal length of the focusing module according to the position information to generate a depth image.
2. The TOF system based imaging method of claim 1, wherein said step of obtaining a depth of field of said focus module is preceded by:
and controlling the second depth of field of the infrared lens to be within the range of the first depth of field of the imaging lens.
3. The TOF system based imaging method of claim 2, wherein said step of obtaining a depth of field of said focus module comprises:
and acquiring a first depth of field of an imaging lens of the focusing module.
4. The TOF system based imaging method of claim 3, wherein said step of controlling said frame image to be disposed within said depth of field comprises:
and controlling the picture image to be arranged in the range of the first depth of field.
5. The TOF system based imaging method of claim 2, wherein said focusing module further comprises a driving motor, said driving motor drives said imaging lens to move by a pulse signal, said controlling said focusing module to focus said frame image comprises:
acquiring a pulse signal;
controlling the driving motor to drive the imaging lens to move according to the pulse signal;
acquiring the image contrast of the picture image;
acquiring a peak value of the image contrast, and storing a pulse signal corresponding to the peak value;
and controlling the imaging lens to move to realize focusing according to the pulse signal corresponding to the peak value.
6. The TOF system based imaging method of claim 5, wherein the pulse signal includes a first pulse value with the light incident surface of the imaging lens facing upward, a second pulse value with the light incident surface of the imaging lens facing downward, and a third pulse value with the light incident surface of the imaging lens facing horizontal, and the step of obtaining the position information of the focusing module focusing on the frame image includes:
determining the direction of the light incident surface of the imaging lens;
and extracting at least one pulse value of the first pulse value, the second pulse value and the third pulse value according to the direction of the light incident surface of the imaging lens.
7. The TOF system based imaging method of claim 6, wherein said TOF system further comprises a depth camera for depth measurement of the frame image, said fixing the focal length of said focusing module according to said position information, generating a depth image comprising:
fixing the position of the imaging lens according to the extracted pulse value;
acquiring display information according to the position of the imaging lens;
controlling the depth camera to carry out depth measurement to obtain depth information;
and generating a depth image according to the display information and the depth information.
8. An imaging apparatus based on a TOF system, wherein the TOF system comprises a focusing module for capturing images of a picture, the focusing module comprises an imaging lens and an infrared lens, the imaging lens has a first depth of field for sharp imaging, the infrared lens has a second depth of field for sharp imaging, the imaging apparatus based on the TOF system comprises:
the acquisition module is used for acquiring the depth of field of the focusing module and acquiring the position information of the focusing module for focusing the picture image;
the control module is used for controlling the picture image to be arranged in the range of the depth of field and controlling the focusing module to focus the picture image;
and the generating module is used for fixing the focal length of the focusing module according to the position information to generate a depth image.
9. An imaging apparatus based on a TOF system, characterized in that the imaging apparatus based on a TOF system comprises: a memory, a processor, and a TOF system based imaging program stored on the memory and executable on the processor; the imaging program based on a TOF system, when executed by the processor, implementing the steps of the imaging method based on a TOF system according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a TOF system based imaging program which, when executed by a processor, carries out the steps of the TOF system based imaging method according to any one of claims 1 to 7.
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| US5464985A (en) * | 1993-10-01 | 1995-11-07 | The Johns Hopkins University | Non-linear field reflectron |
| US7729602B2 (en) * | 2007-03-09 | 2010-06-01 | Eastman Kodak Company | Camera using multiple lenses and image sensors operable in a default imaging mode |
| CN101926640B (en) * | 2009-06-22 | 2012-05-09 | 中国科学院光电技术研究所 | Dynamic imager of living human eye retina |
| US10061028B2 (en) * | 2013-09-05 | 2018-08-28 | Texas Instruments Incorporated | Time-of-flight (TOF) assisted structured light imaging |
| WO2016092454A1 (en) * | 2014-12-09 | 2016-06-16 | Basf Se | Optical 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 |
| CN109089047B (en) * | 2018-09-29 | 2021-01-12 | Oppo广东移动通信有限公司 | Method and device for controlling focusing, storage medium and electronic equipment |
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