WO2020042581A1

WO2020042581A1 - Focusing method and device for image acquisition apparatus

Info

Publication number: WO2020042581A1
Application number: PCT/CN2019/077312
Authority: WO
Inventors: 付阳; 王云飞; 黄通兵
Original assignee: 北京七鑫易维信息技术有限公司
Priority date: 2018-08-29
Filing date: 2019-03-07
Publication date: 2020-03-05
Also published as: CN108833795B; CN108833795A

Abstract

Disclosed are a focusing method and device for an image acquisition apparatus. By acquiring an actual distance between the point of interest of a target object and an image acquisition apparatus, wherein the image acquisition apparatus is used for photographing the target object, and according to the actual distance between the point of interest of the target object and the image acquisition apparatus, adjusting the focusing position of the image acquisition apparatus, the present invention enables the range of depth of field of the image acquisition apparatus to be changed, thereby enabling the target object to be located within the range of depth of field of the image acquisition apparatus so as to acquire a clear target image, and improving the accuracy of acquiring the characteristic information of the target object.

Description

Focusing method and device of image acquisition equipment

Technical field

The present application relates to the field of computers, and in particular, to a focusing method and device of an image acquisition device.

Background technique

An image acquisition device is a device used to capture a target object to obtain a target image, such as a camera or a video camera. The obtained target image can reflect the characteristics of the target object. In practical applications, landscapes, animals, or people can be photographed through an image acquisition device, and target-to-object feature information can be acquired through the captured images. For example, a user's face image or eye image can be obtained, and the eye gaze point can be obtained by analyzing the eye feature information.

However, when the image acquisition device is determined, the lens parameters of the image acquisition device will also be determined accordingly, resulting in a fixed depth of field of the camera. When the position of the target object exceeds the depth of field range, the sharpness of the acquired target image will decrease, such as the acquired face The sharpness of the external image or eye image is reduced, resulting in inaccurate feature information acquisition of the target object, such as inaccurate eye feature information acquisition, and thus inaccurate gaze point estimation.

Summary of the Invention

In order to solve the problem of inaccurate acquisition of the characteristic information of the target object caused by the decrease in the sharpness of the target image in the prior art, embodiments of the present application provide a focusing method and device of an image acquisition device.

An embodiment of the present application provides a focusing method for an image acquisition device, where the method includes:

Acquiring an actual distance between a point of interest on a target object and an image acquisition device, where the image acquisition device is used to shoot the target object;

Adjusting a focus position of the image acquisition device according to the actual distance.

Optionally, the acquiring the actual distance between the point of interest on the target object and the image acquisition device includes:

Use an image acquisition device to shoot the target object to obtain a target image;

Determining the direction of the point of interest on the target object with respect to the image acquisition device according to the position of the point of interest in the target image;

Determining and adjusting the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device;

Controlling the ranging device to measure the actual distance between the point of interest and the ranging device;

The actual distance between the point of interest and the image acquisition device is obtained according to the actual distance between the point of interest and the distance measuring device.

Optionally, determining and adjusting the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device includes:

Determine and adjust the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device, and a coordinate transformation matrix, the coordinate transformation matrix reflects the coordinate system in which the image acquisition device is located A conversion relationship with the coordinate system where the ranging device is located.

Optionally, the ranging device includes an infrared ranging device and / or an ultrasonic ranging device.

Optionally, acquiring the actual distance between the point of interest and the image acquisition device includes:

Acquiring a depth map of the target object through a depth camera;

Obtaining the actual distance between the point of interest on the target object and the depth camera and the direction of the point of interest on the target object with respect to the depth camera according to the depth map;

Obtaining the point of interest on the target object and the image acquisition according to the actual distance between the point of interest on the target object and the depth camera, and the direction of the point of interest on the target object with respect to the depth camera The actual distance of the device.

Optionally, the depth camera includes at least one of a TOF camera, a structured light camera, and a binocular ranging camera.

Optionally, the point of interest on the target object is the eyes of the user, and the acquiring the actual distance between the point of interest and the image acquisition device includes:

Controlling a light source to illuminate the target object;

Determining the spot distance or binocular distance of the eyes in the target image by using the target image;

The actual distance between the eyes of the user and the image acquisition device is determined according to the spot distance or the binocular distance.

Optionally, the image acquisition device includes a CCD camera or a CMOS camera.

Optionally, adjusting the focus position of the image acquisition device according to the actual distance includes:

According to the actual distance, a focus position of the image acquisition device is adjusted by using a voice coil motor.

An embodiment of the present application provides a focusing device for an image acquisition device, where the device includes:

A distance acquisition unit configured to acquire an actual distance between a point of interest on a target object and an image acquisition device, and the image acquisition device is configured to photograph the target object;

The adjustment unit is configured to adjust a focus position of the image acquisition device according to the actual distance.

Optionally, the distance obtaining unit includes:

A target image acquisition unit configured to capture a target object by using an image acquisition device to obtain a target image;

A first direction determining unit configured to determine a direction of an interest point on the target object with respect to the image acquisition device according to a position of the interest point in the target image;

An orientation adjustment unit configured to determine and adjust the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device;

A ranging control unit configured to control the ranging device to measure an actual distance between the point of interest and the ranging device;

The first distance acquisition subunit is configured to obtain an actual distance between the interest point and the image acquisition device according to an actual distance between the interest point and the distance measuring device.

Optionally, the orientation adjustment unit is set as:

Optionally, the distance obtaining unit includes:

A depth map obtaining unit configured to obtain a depth map of the target object through a depth camera;

The distance and direction acquisition unit is configured to acquire the actual distance between the point of interest on the target object and the depth camera and the direction of the point of interest on the target object with respect to the depth camera according to the depth map;

The second distance acquisition subunit is configured to obtain the target object according to an actual distance between the point of interest on the target object and the depth camera, and a direction of the point of interest on the target object with respect to the depth camera. The actual distance between the point of interest on the image and the image acquisition device.

Optionally, the point of interest on the target object is the eyes of the user, and the distance obtaining unit includes:

A light source control unit configured to control a light source to illuminate the target object;

An eye feature acquisition unit, configured to determine, based on the target image, a spot distance or an eye distance between eyes in the target image;

The third distance acquisition subunit is configured to determine an actual distance between the eyes of the user and the image acquisition device according to the spot distance or the binocular distance.

Optionally, the adjustment unit is set as:

An embodiment of the present application provides a method and device for focusing an image acquisition device, which acquires an actual distance between a point of interest of a target object and the image acquisition device, wherein the image acquisition device is used to shoot the target object, and according to the point of interest of the target object The actual distance from the image acquisition device, the focus position of the image acquisition device is adjusted to change the depth range of the image acquisition device, so that the target object is located within the depth range of the image acquisition device, in order to obtain a clear target image, improve Accuracy of the target object's feature information acquisition.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present application or the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely These are some of the embodiments described in this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a flowchart of a focusing method of an image acquisition device according to an embodiment of the present application; FIG.

FIG. 2 is a structural block diagram of a focusing device of an image acquisition device according to an embodiment of the present application.

detailed description

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the prior art, an image acquisition device can be used to shoot a target object to obtain a target image, and then obtain characteristic information of the target object from the target image. For example, an image acquisition device based on the infrared frequency band can be used to capture the eyes of the user, obtain an eye image, analyze the feature information of the eyes in the eye image, and then obtain the user's gaze point. However, when the image acquisition device is determined, the lens parameters of the image acquisition device are also determined accordingly, resulting in a fixed depth of field of the camera. When the position of the target object exceeds the depth of field range, the sharpness of the acquired target image will decrease, such as the obtained face The sharpness of the image or eye image is reduced, resulting in inaccurate feature information acquisition of the target object, such as inaccurate eye feature information acquisition, and thus inaccurate gaze point estimation.

Especially for high-definition high-frame-rate cameras, they are often limited by high frame rates and have short exposure times, so they have large apertures. At the same time, due to the demand for high-definition, they often have telephoto lenses, so their depth of field is relatively small and the target object is The location is easily beyond the depth of field range, and the target image obtained is more easily unclear.

In order to solve the above technical problems, a focusing method and device of an image acquisition device provided in the embodiments of the present application are obtained by acquiring an actual distance between a point of interest of a target object and the image acquisition device, where the image acquisition device is used to shoot the target object, Adjust the focus position of the image acquisition device according to the actual distance between the interest point of the target object and the image acquisition device, so that the depth of field range of the image acquisition device is changed, so that the target object is located within the depth of field range of the image acquisition device in order to obtain The clear target image improves the accuracy of the target object's feature information acquisition.

FIG. 1 is a flowchart of a focusing method of an image acquisition device according to an embodiment of the present application. As shown in FIG. 1, the method includes the following execution steps.

Step S101: Acquire the actual distance between the interest point of the target object and the image acquisition device.

The image acquisition device may be an infrared camera, an infrared camera, or the like, which is used to capture a user's face image and / or eye image, and its core imaging component may be a charge coupled device (CCD) or a complementary metal oxide Semiconductor (Complementary, Metal, Oxide, Semiconductor) (CMOS).

The target object may be a photographed object, and may have a point of interest on the target object. The target object may be, for example, a landscape, an animal, or a person, and specifically, may be a user's face or eyes. Among them, the point of interest can be determined by the user. The point of interest often needs to be captured by the user. Therefore, in the image obtained, the position of the point of interest usually requires higher definition. Based on this, the interest can be obtained from the captured image. Feature information for points. For example, when the user needs to obtain the characteristic information of the eyes, the eyes may be used as the points of interest. Of course, the eyebrows may also be used as the points of interest.

There are various ways to obtain the actual distance between the interest point of the target object and the image acquisition device.

As a possible distance acquisition method, a target object can be captured by an image acquisition device to obtain a target image; according to the position of the point of interest in the target image, the direction of the point of interest on the target object relative to the image acquisition device is determined; The orientation of the point of interest on the target object relative to the image acquisition device determines and adjusts the orientation of the distance measuring device; controls the distance measuring device to measure the actual distance between the point of interest on the target object and the distance measuring device; The actual distance is the actual distance between the point of interest and the image acquisition device.

Specifically, when the target object is captured by the image acquisition device, the obtained target image may be unclear, because the position of the target object may be outside the depth of field range of the image acquisition device, and the position of the target object is beyond the image acquisition device. The further out of the depth of field range, the less clear the target image is. Since there are points of interest on the target object, there are points of interest in the target image obtained by shooting the target object.

According to the position of the point of interest in the target image, determine the direction of the point of interest on the target object with respect to the image acquisition device. Specifically, it can identify the point of interest in the target image and obtain the target The direction of the point of interest relative to the optical center of the lens of the image acquisition device. According to the principle of object imaging, it can be known that the opposite direction of the point of interest in the target image with respect to the direction of the optical center of the lens of the image acquisition device is the target object. The direction of the point of interest with respect to the optical center of the lens of the image acquisition device, and the direction of the point of interest on its target object with respect to the image acquisition device.

After determining the direction of the point of interest on the target object with respect to the image acquisition device, the orientation of the distance measurement device may be determined and adjusted according to the relative positions of the image acquisition device and the distance measurement device. Specifically, the ranging device can be set on the pan / tilt, and the orientation of the ranging device can be adjusted through the pan / tilt.

In an optional embodiment, the actual distance between the image acquisition device and the ranging device is usually small, and the direction of the interest point on the target object relative to the image acquisition device may also be used as the interest point on the target object relative to the measurement The direction of the distance measuring device, and the direction of the distance measuring device is adjusted according to the direction, so that the distance measuring device faces the interest point on the target object.

In an optional embodiment, if the actual distance between the image acquisition device and the distance measurement device is greater than or equal to the preset distance, the relative position of the distance measurement device of the image acquisition device and the target object may be used in the spatial coordinate system. The orientation of the point of interest on the image acquisition device determines the direction of the point of interest on the target object relative to the distance measuring device, and adjusts the orientation of the distance measurement device according to the direction, so that the distance measuring device is facing the target object. Points of Interest.

For example, a coordinate transformation matrix may be determined according to the relative positions of the image acquisition device and the ranging device, and the coordinate transformation matrix and the direction of the interest point on the target object with respect to the image acquisition device may be used to obtain the relative interest point on the target object. According to the direction of the ranging device, so that the orientation of the ranging device is adjusted according to the direction, so that the ranging device faces the point of interest on the target object. The coordinate transformation matrix reflects a conversion relationship between a coordinate system in which the image acquisition device is located and a coordinate system in which the ranging device is located. The coordinate transformation matrix may include a translation transformation matrix and / or a rotation transformation matrix.

After the orientation of the ranging device is adjusted, the orientation of the ranging device may be a direction facing the point of interest on the target object. At this time, the ranging device may be controlled to measure the actual distance between the point of interest on the target object and the ranging device. The ranging device may be an infrared ranging device or an ultrasonic ranging device. In specific implementation, an infrared or ultrasonic wave may be actively transmitted through a signal transmitter of the ranging device, and the infrared or ultrasonic wave is reflected by a point of interest on the target object. The signal receiver of the ranging device can receive reflected infrared or ultrasonic waves, and the testing device can calculate the actual distance between the point of interest on the target object and the ranging device according to the time of infrared or ultrasonic transmission and reception.

After the actual distance between the point of interest on the target object and the distance measuring device is obtained, the actual distance between the point of interest on the target object and the image acquisition device can be obtained according to the actual distance between the point of interest and the testing device. In an optional embodiment, the actual distance between the image acquisition device and the ranging device is usually small. The actual distance between the point of interest on the target object and the ranging device can be used as the point of interest between the target object and the image acquisition device. Actual distance. Of course, if the actual distance between the image acquisition device and the ranging device is greater than or equal to the preset distance, you can also in the spatial coordinate system according to the relative positions of the image acquisition device and the ranging device, and the points of interest on the target object and The actual distance of the distance measuring device determines the actual distance between the point of interest on the target object and the image acquisition device.

In an optional embodiment, a depth map of the target object may be obtained through a depth camera; according to the obtained depth map, the actual distance between the point of interest on the target object and the depth camera and the point of interest on the target object relative to the depth camera are obtained. Direction; according to the actual distance between the point of interest on the target object and the depth camera, and the direction of the point of interest on the target object with respect to the depth camera, the actual distance between the point of interest on the target object and the image acquisition device is obtained.

Specifically, the depth camera may be at least one of a Time of Flight (TOF) camera, a structured light camera, and a binocular ranging camera. The obtained depth map may include feature information of the target object, and may be reflected on the target object. The actual distance between the feature point and the depth camera. The position of the point of interest can be determined from the depth image, and the actual distance between the point of interest on the target object and the depth camera can be obtained. For example, the actual distance between feature points on the target object and the depth camera can be represented by different colors in the depth map.

Similarly, according to the actual distance between the point of interest on the target object and the depth camera, and the direction of the point of interest on the target object with respect to the depth camera, the actual distance between the point of interest on the target object and the image acquisition device can be specifically: The actual distance between the point of interest on the target object and the depth camera is taken as the actual distance between the point of interest on the target object and the image acquisition device. Of course, if the actual distance between the acquisition device and the depth camera is greater than or equal to the preset distance, the relative position of the image acquisition device and the depth camera and the point of interest on the target object relative to the depth camera can also be used in the spatial coordinate system. The direction and the actual distance between the point of interest on the target object and the depth camera determine the actual distance between the point of interest on the target object and the image acquisition device.

In an optional embodiment, the point of interest on the target object is the eyes of the user, then one or more light sources can be controlled to illuminate the target object, and the target object is captured by using an image acquisition device to obtain a target image. The target image can be used to determine Binocular distance in the target image; if there are multiple light sources, these light sources will form reflection points or light spots on the corneal surface of the human eye. At this time, the eye spot distance in the target image can also be determined. According to the binocular distance or between multiple light spots The distance determines the actual distance between the user's eyes and the image acquisition device.

The light source may be an infrared light source, and the image acquisition device may be an infrared image sensor. Optionally, multiple light sources may be two sets of light sources on the left and right sides of the image acquisition device.

It can be understood that the smaller the binocular distance in the target image, the greater the actual distance between the user and the image acquisition device. Similarly, the smaller the spot distance in the same eye in the target image, the smaller the user's eye and the image acquisition device. The greater the actual distance between them. According to this characteristic, a mapping relationship between the spot distance or binocular distance in the target image and the actual distance can be established. The mapping relationship can be, for example, a function, that is, a function between the spot distance in the target image and the actual distance, or the target image. A function between binocular distance and actual distance in. By establishing the completed mapping relationship, the actual distance between the user's eyes and the image acquisition device can be estimated from the spot spacing or binocular spacing.

It can be understood that the foregoing method of determining the actual distance between the user's eyes and the image acquisition device according to the spot distance or binocular distance can be selected according to the actual situation. For example, when the target image includes two eyes, the user can be determined by binocular distance The actual distance between your eyes and the image acquisition device.

Step S102: Adjust the focus position of the image acquisition device according to the actual distance between the point of interest on the target object and the image acquisition device.

Adjust the focus position of the image acquisition device. Specifically, you can adjust the lens of the image acquisition device. For example, you can use a voice coil motor (VCM) to achieve linear or limited swing angle motion. The position of the lens is adjusted to change the focus position of the image acquisition device.

Adjust the focus position of the image acquisition device according to the actual distance between the point of interest on the target object and the image acquisition device. Specifically, you can combine the image acquisition device with the actual distance between the point of interest on the target object and the image acquisition device. Adjust the focus position of the image acquisition device. For example, if the actual distance between the point of interest on the target object and the image acquisition device is 80 cm, and the depth of field range of the image acquisition device is 45 cm to 70 cm, the focus position of the image acquisition device can be increased. So that the depth of field range of the image acquisition device can include the actual distance between the point of interest on the target object and the image acquisition device. Specifically, by increasing the focus position of the image acquisition device, the depth of field range of the image acquisition device can be adjusted to 60 cm to 85 cm, which can include an actual distance of 80 cm.

An embodiment of the present application provides a method for focusing an image acquisition device, which acquires an actual distance between a point of interest of a target object and the image acquisition device, wherein the image acquisition device is used for shooting the target object, and according to the interest point of the target object and the image Obtain the actual distance of the device, adjust the focus position of the image acquisition device, and change the depth of field range of the image acquisition device, so that the target object is within the depth of field range of the image acquisition device, in order to obtain a clear target image and improve the target object Accuracy of feature information acquisition.

Based on the focusing method of the image acquisition device provided by the foregoing embodiments, the embodiment of the present application further provides a focusing device of the image acquisition device. The working principle is described in detail below with reference to the accompanying drawings.

FIG. 2 is a structural block diagram of a focusing device of an image acquisition device according to an embodiment of the present application. As shown in FIG. 2, the device includes:

The distance acquiring unit 110 is configured to acquire an actual distance between a point of interest on a target object and an image acquisition device, and the image acquisition device is configured to photograph the target object;

The adjusting unit 120 is configured to adjust a focus position of the image acquisition device according to the actual distance.

Optionally, the distance obtaining unit includes:

Optionally, the orientation adjustment unit is set as:

Optionally, the distance obtaining unit includes:

Optionally, the adjustment unit is set as:

An embodiment of the present application provides a focusing device for an image acquisition device, which acquires an actual distance between a point of interest of a target object and the image acquisition device, where the image acquisition device is used to shoot the target object, and according to the target point of interest and the image Obtain the actual distance of the device, adjust the focus position of the image acquisition device, and change the depth of field range of the image acquisition device, so that the target object is within the depth of field range of the image acquisition device, in order to obtain a clear target image and improve the target object. Accuracy of feature information acquisition.

When introducing elements of various embodiments of the present application, the articles "a," "an," "the," and "said" are intended to mean that there are one or more of the elements. The words "including," "including," and "having" are all inclusive and mean that there may be additional elements other than the listed elements.

It should be noted that a person of ordinary skill in the art can understand that the implementation of all or part of the processes in the foregoing method embodiments can be completed by using a computer program to instruct related hardware, and the program can be stored in a computer-readable storage In the medium, when the program is executed, the program may include the processes of the foregoing method embodiments. The storage medium may be a magnetic disk, an optical disc, a read-only memory (ROM), or a random access memory (Random Access Memory, RAM).

Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, as for the device embodiment, since it is basically similar to the method embodiment, it is described relatively simply. For the relevant part, refer to the description of the method embodiment. The device embodiments described above are only schematic, and the units and modules described as separate components may or may not be physically separated. In addition, some or all of the units and modules may be selected according to actual needs to achieve the objective of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without creative efforts.

The above is only a specific implementation of the present application. It should be noted that, for those of ordinary skill in the art, without departing from the principles of the present application, several improvements and retouching can be made. These improvements and retouching also It should be regarded as the protection scope of this application.

Claims

A focusing method of an image acquisition device, the method includes:

Acquiring an actual distance between a point of interest on a target object and an image acquisition device, where the image acquisition device is used to shoot the target object;

Adjusting a focus position of the image acquisition device according to the actual distance.
The method according to claim 1, wherein the acquiring the actual distance between the point of interest on the target object and the image acquisition device comprises:

Use an image acquisition device to shoot the target object to obtain a target image;

Determining the direction of the point of interest on the target object with respect to the image acquisition device according to the position of the point of interest in the target image;

Determining and adjusting the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device;

Controlling the ranging device to measure the actual distance between the point of interest and the ranging device;

The actual distance between the point of interest and the image acquisition device is obtained according to the actual distance between the point of interest and the distance measuring device.
The method according to claim 2, wherein determining and adjusting the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device comprises:

Determine and adjust the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device, and a coordinate transformation matrix, the coordinate transformation matrix reflects the coordinate system in which the image acquisition device is located A conversion relationship with the coordinate system where the ranging device is located.
The method according to claim 2, wherein the ranging device comprises an infrared ranging device and / or an ultrasonic ranging device.
The method according to claim 1, wherein the acquiring an actual distance between the point of interest and an image acquisition device comprises:

Acquiring a depth map of the target object through a depth camera;

Obtaining the actual distance between the point of interest on the target object and the depth camera and the direction of the point of interest on the target object with respect to the depth camera according to the depth map;

Obtaining the point of interest on the target object and the image acquisition according to the actual distance between the point of interest on the target object and the depth camera, and the direction of the point of interest on the target object with respect to the depth camera The actual distance of the device.
The method according to claim 5, wherein the depth camera comprises at least one of a TOF camera, a structured light camera, and a binocular ranging camera.
The method according to claim 1, wherein the point of interest on the target object is a user's eyes, and the acquiring the actual distance between the point of interest and an image acquisition device comprises:

Controlling a light source to illuminate the target object;

Use an image acquisition device to shoot the target object to obtain a target image;

Determining the spot distance or binocular distance of the eyes in the target image by using the target image;

An actual distance between the eyes of the user and the image acquisition device is determined according to the spot distance or the binocular distance.
The method according to any one of claims 1 to 7, wherein the image acquisition device comprises: a CCD camera or a CMOS camera.
The method according to any one of claims 1 to 7, wherein the adjusting a focus position of the image acquisition device according to the actual distance comprises:

According to the actual distance, a focus position of the image acquisition device is adjusted by using a voice coil motor.
A focusing device of an image acquisition device, the device includes:

A distance acquisition unit configured to acquire an actual distance between a point of interest on a target object and an image acquisition device, and the image acquisition device is configured to photograph the target object;

The adjustment unit is configured to adjust a focus position of the image acquisition device according to the actual distance.
The apparatus according to claim 10, wherein the distance obtaining unit comprises:

A target image acquisition unit configured to capture a target object by using an image acquisition device to obtain a target image;

A first direction determining unit configured to determine a direction of an interest point on the target object with respect to the image acquisition device according to a position of the interest point in the target image;

An orientation adjustment unit configured to determine and adjust the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device;

A ranging control unit configured to control the ranging device to measure an actual distance between the point of interest and the ranging device;

The first distance acquisition subunit is configured to obtain an actual distance between the interest point and the image acquisition device according to an actual distance between the interest point and the distance measuring device.
The apparatus according to claim 11, wherein the orientation adjustment unit is configured to:

Determine and adjust the orientation of the ranging device according to the direction of the point of interest on the target object with respect to the image acquisition device, and a coordinate transformation matrix, the coordinate transformation matrix reflects the coordinate system in which the image acquisition device is located A conversion relationship with the coordinate system where the ranging device is located.
The apparatus according to claim 11, wherein the ranging device comprises an infrared ranging device and / or an ultrasonic ranging device.
The apparatus according to claim 10, wherein the distance obtaining unit comprises:

A depth map obtaining unit configured to obtain a depth map of the target object through a depth camera;

The distance and direction acquisition unit is configured to acquire the actual distance between the point of interest on the target object and the depth camera and the direction of the point of interest on the target object with respect to the depth camera according to the depth map;

The second distance acquisition subunit is configured to obtain the target object according to an actual distance between the point of interest on the target object and the depth camera, and a direction of the point of interest on the target object with respect to the depth camera. The actual distance between the point of interest on the image and the image acquisition device.
The apparatus according to claim 14, wherein the depth camera comprises at least one of a TOF camera, a structured light camera, and a binocular ranging camera.
The apparatus according to claim 10, wherein the point of interest on the target object is a user's eyes, and the distance obtaining unit comprises:

A light source control unit configured to control a light source to illuminate the target object;

A target image acquisition unit configured to capture a target object by using an image acquisition device to obtain a target image;

An eye feature acquisition unit, configured to determine, based on the target image, a spot distance or an eye distance between eyes in the target image;

The third distance acquisition subunit is configured to determine an actual distance between the eyes of the user and the image acquisition device according to the spot distance or the binocular distance.
The apparatus according to any one of claims 10 to 16, wherein the image acquisition device comprises: a CCD camera or a CMOS camera.
The apparatus according to any one of claims 10 to 16, wherein the adjustment unit is configured to:

According to the actual distance, a focus position of the image acquisition device is adjusted by using a voice coil motor.
A storage medium comprising a stored program, wherein when the program is run, a device where the storage medium is located is controlled to perform a focusing method of the image acquisition device according to any one of claims 1 to 9.
An image acquisition device including a memory and a processor,

A computer program is stored in the memory;

The processor is configured to execute a computer program stored in the memory, and when the computer program runs, execute the focusing method of the image acquisition device according to any one of claims 1 to 9.