WO2022000258A1 - Focusing method and apparatus, electronic device, and computer readable medium - Google Patents

Abstract

The embodiments of the present application disclose a focusing method and apparatus, an electronic device, and a computer readable medium. Said method comprises: acquiring focus information when a lens samples multiple frames of images during a focusing process, the focus information comprising device shake information, lens position information and index information of focusing regions in the multiple frames of images; on the basis of the device shake information, obtaining, by screening, candidate focus information; on the basis of the lens position information and the index information in the candidate focus information, determining a lens position during focusing; and controlling the lens to move to the lens position so as to complete focusing. The implementation improves the accuracy of focusing.

Description

Focusing method, apparatus, electronic device and computer readable medium technical field

The embodiments of the present application relate to the field of cameras, and in particular, to a focusing method, an apparatus, an electronic device, and a computer-readable medium.

Background technique

Contrast Detection Auto Focus (CDAF) is a commonly used focusing method. Through contrast focusing, the camera's automatic focusing can be achieved, eliminating the user's manual focusing process and providing convenience for users.

In the prior art, when looking for the best lens position through contrast focusing, the lens position and the index information (such as contrast) of the focus area in the image are usually combined into one coordinate point, and curve fitting is performed through several coordinate points to determine the highest curve. point, so that the lens position corresponding to the highest point is taken as the lens position when focusing is achieved.

The disadvantage of the prior art is that there is usually equipment shake during the shooting process, and equipment shake occurs when the image is sampled at the lens position corresponding to any of the above coordinate points, which will affect the accuracy of curve fitting and further affect the accuracy of the curve fitting. The accuracy of the lens position determination when focusing is achieved, resulting in lower focusing accuracy.

SUMMARY OF THE INVENTION

The embodiments of the present application propose a focusing method, an apparatus, an electronic device, and a computer-readable medium, so as to solve the technical problem of low focusing accuracy in the prior art.

In a first aspect, an embodiment of the present application provides a focusing method, including:

Acquire focusing information when the lens samples multiple frames of images in the focusing process, where the focusing information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

Based on the device shake information, the candidate focus information is screened out;

determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

The lens is controlled to move to the lens position to complete focusing.

In a second aspect, an embodiment of the present application provides a focusing device, including:

an acquisition unit, configured to acquire focus information when the lens samples multiple frames of images in the focusing process, where the focus information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

a screening unit, configured to screen out candidate focus information based on the device shake information;

a determining unit, configured to determine the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

The control unit is configured to control the lens to move to the lens position to complete focusing.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory;

the memory for storing program instructions;

The processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:

Acquire focusing information when the lens samples multiple frames of images in the focusing process, where the focusing information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

Based on the device shake information, the candidate focus information is screened out;

determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

The lens is controlled to move to the lens position to complete focusing.

In a fourth aspect, an embodiment of the present application provides a computer-readable medium on which a computer program is stored, and when the program is executed by a processor, implements the focusing method as in the first method.

The focusing method, device, electronic device, and computer-readable medium provided in the embodiments of the present application improve the accuracy of lens position determination when focusing is achieved, thereby effectively improving the focusing accuracy.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

1 is a flowchart of an embodiment of the focusing method of the present application;

Fig. 2 is the schematic diagram of the index information curve and the device jitter information curve of the present application when the image acquisition device is stable;

3 is a schematic diagram of an index information curve and a device jitter information curve when the image acquisition device shakes according to the present application;

Fig. 4 is the flow chart of the process of selecting target focusing information to determine the lens position when focusing in the focusing method of the present application;

5 is a flowchart of a process of determining the lens position when in-focus in the focusing method of the present application;

6 is a schematic diagram of a curve constructed based on the coordinates of the target focus information of the present application;

FIG. 7 is a flowchart of another embodiment of the focusing method of the present application;

8 is a flowchart of a process of compensating index information in the focusing method of the present application;

9 is a schematic structural diagram of an embodiment of the focusing device of the present application;

FIG. 10 is a schematic structural diagram of an embodiment of the electronic device of the present application.

specific embodiment

The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Please refer to FIG. 1 , which shows a flowchart of a focusing method according to the present application. The execution subject of the focusing method may be an image processing device in an image acquisition device. It can be understood that the above-mentioned image acquisition device may be any device having an image acquisition function such as a camera, and the above-mentioned image processing apparatus may be implemented as software or a combination of software and hardware.

The above-mentioned image acquisition may include a lens, a focusing motor, an image sensor, etc. The light reflected by the object passes through the above-mentioned lens and then converges on the above-mentioned image sensor, and the above-mentioned image sensor converts the optical signal into an electrical signal to form an image containing the above-mentioned object. The above-mentioned focusing motor may include a driving component such as a driving shaft, etc., for driving the above-mentioned lens to move.

The flow of the focusing method includes the following steps:

Step 101: Acquire focusing information when the lens samples multiple frames of images in the focusing process.

In this embodiment, in the process of photographing a scene, the image acquisition device usually needs to focus. During the focusing process, the motor can drive the lens to move, thereby changing the object distance, so that the clarity of the captured scene in the image sampled by the lens changes continuously. Usually, the object in the image sampled during the focusing process will experience a process from blurring to clear and then blurred, wherein the position of the lens when the above-mentioned object is the clearest can be regarded as the position of the lens when the focus is achieved.

During the focusing process, when the lens samples each frame of image, the execution subject of the focusing method can obtain the corresponding focusing information. The focus information may include device shake information, lens position information, and index information of the focus area in the image.

The device shake information may be information for characterizing the degree of shaking of the image capturing device. For example, the information can be a numerical value. The greater the degree of device jitter, the greater the value. In addition, other forms can also be used for representation, such as letters, etc., which are not limited here. The equipment shake information can be collected by sensors installed in the image collection equipment.

The lens position information can be used to represent the position of the lens, for example, the moving range of the lens from the initial position to the farthest moving position can be expressed as a numerical interval. Any position of the lens within the moving range can be mapped to a certain value in the value interval, and the value can be used as lens position information. In addition, the distance of the lens from the initial position can also be directly used as the lens position information, or other forms of lens position information can be used as required to represent the lens position.

The focus area in an image can refer to the area enclosed by the focus frame. The focus frame is usually a rectangular frame with a preset size, such as a rectangle frame of 150×150 pixels. At this time, the focus area contains 150×150 pixels, and each pixel has a pixel value, so the focus area can correspond to a 150×150 pixel. pixel matrix. The index information of the focus area in the image may be information used to measure the clarity of the object in the focus area in the image, such as contrast, contrast filtered by various filtering algorithms, and the like. The larger the index information, the higher the clarity of the subject in the focus area. The index information can be calculated according to the pixel matrix. This embodiment does not limit the calculation method of the index information.

In some optional implementations of this embodiment, the device shake information may be collected by an inertial sensor. The inertial sensor can be installed inside the image acquisition device and communicated with the above-mentioned executive body. An inertial sensor is a sensor that detects and measures acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion. In this embodiment, various types of inertial sensors, such as a speed sensor and an inertial measurement unit (Inertial measurement unit, IMU), may be used to collect device jitter information.

Taking the acceleration sensor as an example, the acceleration sensor can collect and output the accelerations of the three axes of X, Y, and Z in the three-dimensional rectangular coordinate system, and the above-mentioned equipment shaking information can be the sum of the accelerations of each axis collected by the above-mentioned acceleration sensor. Specifically, the accelerations of the X-axis, Y-axis, and Z-axis are recorded as ax, ay, and az, respectively, and the equipment shake information is recorded as acce, there are:

acce=|ax|+|ay|+|az|

In an ideal state, that is, when the image acquisition device does not vibrate, the value of the device jitter information acce is 0. The larger the value of the device jitter information acce, the more severe the jitter of the image acquisition device.

In some examples, when the device shake information acce is less than a certain preset value, it may be considered that the image capturing device tends to be in a relatively stable state. At this time, the error of the index information caused by the jitter of the image device can be ignored. In this case, a schematic diagram of the index information curve and the device jitter information curve can be seen in FIG. 2 . As shown in FIG. 2 , when the device jitter information is less than the preset value, the indicator information curve is a nearly smooth curve.

When the device jitter information acce is greater than or equal to the above preset value, it can be considered that the image acquisition device has relatively obvious jitter, and a schematic diagram of the index information curve and the device jitter information curve can be seen in FIG. 3 . As shown in FIG. 3 , when the device jitter information acce is greater than the preset value, the index information will be significantly reduced, and the index information curve is not a nearly smooth curve. If the curve fitting is performed based on the points where the index information fluctuates significantly, it will cause a large deviation in the finally determined lens position when in-focus, which will eventually lead to unclear focus.

It should be noted that the working frequency of the acceleration sensor needs to be greater than the sampling frequency of the image frame, so as to ensure that the corresponding device shake information can be obtained when each frame of image is sampled.

In some optional implementations of this embodiment, the operating frequency of the acceleration sensor may be multiple times, such as 3 to 5 times, of the sampling frequency of the image frame. Through this setting, during the sampling process of one frame of image, the device jitter information of a plurality of relatively smaller intervals can be counted, so as to obtain more accurate device jitter information.

For example, when the image acquisition device works at 30fps (Frames Per Second, the number of frames transmitted per second), and the working frequency of the acceleration sensor is at 90hz (Hertz), three pieces of device jitter information can be obtained during the sampling process of one frame of image. They are device jitter information acce1, device jitter information acce2 and device jitter information acce3 respectively. By averaging the three pieces of equipment jitter information, more accurate equipment jitter information acce=mean(acce1, acce2, acce3) can be obtained. Among them, mean means to take the average.

In some optional implementations of this embodiment, the index information of the focus area is determined through the following steps: first, use a finite impulse response (Finite Impulse Response, FIR) filter or a wireless impulse response (Infinite Impulse Response, IIR) filter Filter the focus area of the device to obtain the filtering result map. Then, the contrast of the above-mentioned filtering result map is determined as the index information. Image filtering can alter or enhance images. Through filtering, some features can be emphasized or some unwanted parts in the image can be removed, thereby improving the accuracy of the index information.

In some examples, finite impulse response filters may include, but are not limited to, Sobel operators, Laplacian operators, and the like. Taking the Sobel operator as an example, the Sobel operator can be constructed as a 3×3 weight matrix. The focus area may be a rectangular area, such as a rectangular area containing n×n pixels. Each pixel corresponds to a pixel value, so the focus area can be regarded as an n×n pixel value matrix. By performing convolution calculation with the Sobel operator and the pixel value of n×n, the filtered result graph after filtering can be obtained. Thus, the contrast of the filtering result map can be determined as index information.

In some examples, the wireless impulse response filter is generated by:

The first step is to convert the focus area into a frequency domain signal through Fourier Transformation (FT). Before the Fourier transform, the focus area is in the spatial domain, which is also called the image space, the spatial domain or the pixel domain. After Fourier transform, the focus area is converted into a frequency domain signal, that is, the frequency spectrum of the focus area. The spectrum can represent the energy gradient of an image. By transforming the focus area into the frequency domain, the statistical characteristics of the spectral function of the focus area can be obtained, such as the component statistics of low frequency, intermediate frequency and high frequency. Thereby, image processing and calculation are facilitated.

The frequency of an image is an indicator that characterizes the intensity of grayscale changes in an image, and is the gradient of grayscale in plane space. For example, a large area of desert is an area with slow grayscale changes in the image, and the corresponding frequency value is very low; while for the edge area where the surface attribute changes violently, it is an area with a sharp grayscale change in the image, and the corresponding frequency value higher. The physical meaning of Fourier transform can be immediately transformed from the gray distribution function of the image to the frequency distribution function of the image.

The second step is to normalize the above frequency domain signal. For example, normalizing to [0, 1] adjusts the amplitude of the spectrum to [0, 1] for easy data analysis.

The third step is to determine the target frequency band based on the distribution of the frequency domain signal.

Here, the frequency band where the frequency domain signals are aggregated can be used as the target frequency band. For example, if the distribution of frequency-domain signals shows that the frequency-domain signals are aggregated within a certain frequency band, and the frequency-domain signals are sparse outside the frequency band, this frequency band can be used as the target frequency band.

The fourth step is to set the filter based on the target frequency band.

Since the filter can emphasize some data or remove some unnecessary data, the filter setting can be made based on the target frequency band, so that it can strengthen the signal in the target frequency band and weaken the signal in other frequency bands to highlight the target. data in the frequency band.

A filter set up in this way is an infinite impulse response filter. When filtering the focus area based on the filter, the filter may first be converted by using the Taylor formula, so that the pixel matrix of the focus area is processed by the converted filter. Since the infinite impulse response filter is set by analyzing the frequency domain signal of the focus area, it can capture features such as energy gradient that cannot be captured in the spatial domain, so that the index information can more accurately characterize the focus effect.

Step 102, based on the device shake information, screen out candidate focus information.

In this embodiment, since the device shake information can be used to indicate the degree of the device shake, it is necessary to filter out the focus information when the device is stable or slightly shaken, that is, filter out the focus information when the shake is large, so as to improve the data accuracy. accuracy.

Taking the device shake information as a numerical value representing the degree of device shake as an example, in some optional implementations of this embodiment, focus information whose device shake information is less than a first preset threshold may be determined as candidate focus information. The first preset threshold here may be preset according to a large number of experiments and data statistics, and the specific value thereof is not limited in this embodiment. When the device jitter information is greater than or equal to the first preset threshold, it may be considered that the degree of device jitter is relatively large. When the degree of device shake is large, the index information of the focus area in the image has a large error. Using the index information at this time to calculate the lens position when focusing is often inaccurate, so the focus information at this time can be ignored.

In some optional implementation manners of this embodiment, the candidate focus information may also be screened in combination with lens position information and device shake information. Specifically, since the larger the index information, the higher the clarity of the focus area, the better the focusing effect, and the closer the lens position is to the position when the focus is achieved. Therefore, the focusing information with the largest index information can be used as the reference focusing information first.

Then, the lens position corresponding to the above-mentioned reference focus information can be used as the first reference position, and the distance between the lens position corresponding to each focus information and the above-mentioned first reference position can be detected. The lens position corresponding to the reference focus information is the lens position indicated by the lens position information in the reference focus information. The lens position corresponding to each focus information is the lens position indicated by the lens position information in the focus information. The greater the distance between the lens position corresponding to a certain focus information and the first reference position, the farther the lens position corresponding to the focus information is from the position when focusing is achieved, and the lower the accuracy of the index information in the focus information, the lower the accuracy of the index information in the focus information. The less referential the focus information is. Conversely, the smaller the distance between the lens position corresponding to a certain focus information and the first reference position, the closer the lens position corresponding to the focus information is to the position when the focus is achieved, and the higher the accuracy of the index information in the focus information. , the referenceability of the focus information is higher.

Finally, focus information whose distance is less than the second preset threshold and whose device shake information is less than the first preset threshold is determined as candidate focus information. The second preset threshold here can also be preset according to a large number of experiments and data statistics, and the specific value thereof is not limited.

By screening the candidate focus information in combination with the lens position information and the device shake information at the same time, the accuracy of the candidate focus information can be further improved.

It should be noted that the candidate focus information is not limited to be screened based on the device shake information, and may also be screened based on other information or combined with other information at the same time. For example, filtering may be performed based on the image of the focus area, and the image of the focus area may be filtered to determine whether the contrast of the focus area is greater than a predetermined value. If the contrast of the focus area is greater than the preset value, it can be considered that the focus information at this time is collected when the focus is close to being achieved, and thus the focus information at this time can be used as the candidate focus information.

Step 103: Determine the lens position when focusing is achieved based on the lens position information and index information in the candidate focus information.

In one embodiment, the execution subject may select a preset number of candidate focus information as target focus information, and determine the lens position when focusing is achieved based on the lens position information and index information in the target focus information. Specifically, a preset number of candidate focus information may first be selected as target focus information in various ways. For example, it can be randomly selected, or it can be selected according to a preset rule. The above-mentioned preset number can be preset as required, for example, three can be set. Then, the lens position information and index information in each target focus information can be used as a coordinate point, and curve fitting can be performed based on each coordinate point, so as to determine the lens position when focusing is achieved according to the corresponding coordinates of the highest point of the curve (that is, the peak point). .

In another embodiment, referring to the flowchart of the process of selecting target focus information to determine the lens position when in-focus shown in FIG. 4 , the lens position when in-focus can be determined according to the following sub-steps S11 to S13:

Sub-step S11, the candidate focus information with the largest index information is used as the first target focus information.

Since the larger the index information, the higher the clarity of the focus area, the better the focusing effect, and the closer the lens position is to the position when the focus is achieved. Therefore, the candidate focusing information with the largest index information can be used as one of the target focusing information, which can be called here. Focus information for the first target.

In sub-step S12, the lens position corresponding to the first target focus information is used as the second reference position, and each candidate focus information whose lens position is adjacent to the second reference position is used as the second target focus information respectively.

Among the lens positions corresponding to the selected candidate focus information, the second reference position is the lens position closest to the focus achieved. If the distance between the lens position corresponding to a certain candidate focus information and the second reference position is smaller, it means The closer the lens position corresponding to the candidate focus information is to the lens position when focusing is achieved, the higher the accuracy of the index information in the candidate focus information, and thus the higher the referability of the candidate focus information. Therefore, each candidate focus information whose lens position is adjacent to the second reference position is the most referable focus information among the remaining candidate reference information, so each candidate focus information whose lens position is adjacent to the second reference position can be classified into respectively as the second target focus information. Further, from the candidate focus information, the first target focus information and each second target focus information are selected. Thus, three target focus information can be obtained.

Sub-step S13: Determine the lens position when focusing is achieved based on the lens position information and index information in the first target focus information and the second target focus information.

Here, similar to the above-mentioned embodiment, the lens position information and index information in each target focus information (including the first target focus information and each second target focus information) can be used as coordinate points, and a curve can be drawn based on each coordinate point. Fitting, so as to determine the lens position when focusing is achieved according to the corresponding coordinates of the highest point (ie the peak point) of the curve.

Optionally, before using the target focus information to determine the position of the lens when focusing is achieved, the above-mentioned execution subject may also detect whether the device shake information in each target focus information satisfies a preset condition. For each target focus information that does not meet the above preset conditions, any focus information adjacent to the target focus information may be used as new target focus information. After the target focus information is replaced, the step of detecting whether the device shake information in each target focus information satisfies the preset conditions can be re-executed, so as to detect whether the new target focus information needs to be further replaced until all the devices in the target focus information The jitter information all meet the preset conditions.

The preset conditions here can be used to distinguish the target focus information collected when the device is stable and the target focus information collected when the device is slightly shaken. In one embodiment, the preset condition is a preset value. That is, when the device shake information in the target focus information is less than a preset value, the device is stable; when the device shake information in the target focus information is greater than or equal to the preset value, the device shakes slightly. For example, when the device shake information in the target focus information is less than 0.5, the device can be considered stable; when the device shake information in the target focus information is greater than or equal to 0.5, it can be considered that the device shakes slightly. Since the index information may deviate from the accurate value when the image acquisition device is in a state of slight shaking, further processing, such as replacement, needs to be performed on the target focus information with slight shaking. In this way, the accuracy of the index information in the target focusing information can be improved, thereby improving the accuracy of focusing.

Optionally, referring to the flowchart of the process of determining the in-focus position shown in FIG. 5 , based on the lens position information and index information in the target focusing information, specifically, the lens when in-focus can be determined according to the following sub-steps S21 to S23. Location:

Sub-step S21, taking the lens position information in each target focus information as the abscissa and the index information as the ordinate, and constructing a curve based on the coordinates of each target focus information. The curve here is usually a parabola. FIG. 6 shows a schematic diagram of a curve constructed based on coordinates of target focus information. As shown in FIG. 6 , the horizontal axis represents lens position information, the vertical axis represents index information, and points A, B, and C are coordinates of different target focus information. Since the parabola can be fitted by knowing the coordinates of the three points, the parabola shown in Figure 4 can be determined by knowing the coordinates of the three points A, B, and C.

In sub-step S22, the abscissa of the apex (ie the peak point) of the curve is determined. In practice, the process of constructing the curve is the process of fitting the curve expression. Therefore, the vertex coordinates can be determined by calculating the maximum value of the curve expression value. For example, the curve is a parabola, and the parabola expression is y=ax ² +bx+c, then when x=b/2a, y is the maximum value. Among them, a is a non-zero number, and b is any numerical value.

Sub-step S23, the lens position indicated by the abscissa of the vertex is determined as the lens position when focusing is achieved.

Step 104, controlling the lens to move to the lens position when focusing is achieved, so as to complete focusing.

In this embodiment, after determining the position of the lens when the focus is achieved, the focus motor can be controlled to drive the lens to move to the position of the lens when the focus is achieved, so as to complete the focus.

The method provided by the above-mentioned embodiments of the present application first obtains the focus information when the lens samples each frame of images during the focusing process, then selects the candidate focus information based on the device shake information in the focus information, and then selects a preset number of candidate focus information. The information is used as target focus information, and based on the lens position information and index information in each target focus information, the lens position when focusing is determined, so as to control the lens to move to the lens position to complete the focus. In the process of determining the position of the lens when the focus is achieved, the shaking of the device is taken into account, which improves the accuracy of determining the position of the lens when the focus is achieved, thereby effectively improving the accuracy of the focusing.

With further reference to FIG. 7, a flowchart of a focusing method according to the present application is shown. The flow of the focusing method includes the following steps:

Step 701: Acquire focusing information when the lens samples multiple frames of images in the focusing process.

In this embodiment, for the specific implementation principle and process of step 701, reference may be made to step 101 in the corresponding embodiment of FIG. 1, and details are not described herein again.

Step 702, based on the device shake information, screen out candidate focus information.

In this embodiment, for the specific implementation principle and process of step 702, reference may be made to step 102 in the corresponding embodiment of FIG. 1, and details are not described herein again.

Step 703: Select a preset number of candidate focus information as target focus information.

In this embodiment, for the specific implementation principle and process of step 703, reference may be made to step 103 in the embodiment corresponding to FIG. 1, and details are not described herein again.

Step 704: Detect whether the device shake information in the focus information of each target satisfies a preset condition.

In this embodiment, since the target focus information is selected from the candidate focus information, the target focus information is the focus information that the image acquisition device is in a stable state or a slightly shaking state. However, even when the image acquisition device is in a state of slight shaking, the index information may deviate from the accurate value due to the shaking, so further processing needs to be performed on the slightly shaking target focus information. Before processing, it is necessary to filter out the target focus information collected when the device shakes slightly based on the device shake information.

Specifically, the executing subject of the focusing method can detect whether the device shake information in the focusing information of each target satisfies a preset condition. For example, it can be detected whether the device shake information in the focus information of each target is smaller than a predetermined steady state threshold (eg, 0.5). For a certain target focus information, if the device shake information in the target focus information is less than the steady state threshold, it may be considered that the target focus information and the device shake information in the target focus information meet the preset conditions. The target focus information that satisfies the preset condition can be considered as the focus information collected in a stable state. Conversely, if the device shake information in the target focus information is greater than or equal to the steady state threshold, it may be considered that the target focus information and the device shake information in the target focus information do not meet the preset conditions. The target focus information that does not meet the preset conditions can be considered as focus information collected when the device is slightly shaken.

Step 705, in response to the existence of target focus information that does not meet the preset condition, count the number of target focus information that does not meet the preset condition.

Step 706, in response to the above-mentioned quantity being less than or equal to the third preset threshold, perform compensation for the index information in the target focus information that does not meet the preset condition.

In this embodiment, the third preset threshold may be set according to actual needs. For example, the third preset threshold may be set to 1. If only one target focus information does not meet the preset condition, it can be considered that only one target focus information is collected when the device shakes slightly, and at this time, the index information in the target focus information can be compensated. Since the index information is used to represent the sharpness of the focus area, when the device shakes, the sharpness will be reduced. Therefore, the index information can be compensated by increasing the index information.

As an example, a compensation value may be set to increase the index information by adding the index information to the compensation value. The compensation value can be a fixed value or a variable value.

When the compensation value is a fixed value, the compensation value can be set after analyzing a large amount of historical data. For example, multiple sets of index information collected at the same lens position may be obtained, and each set of index information may include index information collected when the device shakes slightly and index information collected when the lens is stable. Then, the difference between the two index information in each group is calculated, and the average value of the difference is used as the compensation value.

When the compensation value is a variable value, the compensation value may be determined based on device jitter information. The larger the device jitter information, the larger the compensation value. The smaller the device jitter information, the smaller the compensation value. For example, the compensation value can be set to be proportional to the device jitter information. The compensation value here can be a number greater than 0.

As yet another example, a compensation coefficient may be set, and the index information may be increased by multiplying the index information by the compensation coefficient. The compensation coefficient can also be a fixed value or a variable value.

When the compensation coefficient is a fixed value, the compensation coefficient can be set after analyzing a large amount of historical data. For example, multiple sets of index information collected at the same lens position may be obtained, and each set of index information may include index information collected when the device shakes slightly and index information collected when the lens is stable. Then, the ratio of the index information collected when the lens is stable and the index information collected when the device is slightly shaken in each group is calculated, and the average value of the ratios is used as the compensation coefficient.

When the compensation coefficient is a variable value, the compensation coefficient may be determined based on device jitter information. The larger the device jitter information, the larger the compensation coefficient. The smaller the device jitter information, the smaller the compensation coefficient. For example, the compensation coefficient can be set to be proportional to the device jitter information. The compensation coefficient here may be a number greater than 1.

In some optional implementation manners of this embodiment, each target focus information that does not meet the above preset conditions may be used as the focus information to be processed, and referring to FIG. 8 , the following sub-steps S31 to S35 are used to process the above-mentioned to-be-processed information. The index information in the focus information is compensated:

In sub-step S31, a compensation coefficient is determined based on the device shake information in the focus information to be processed. The compensation coefficient here may be the product of the device jitter information and a certain preset value. For example, if the device jitter information is in the range of [0.5, 1.5], the default value is 0.5. When the device shake information in the focus information to be processed is 1, the compensation coefficient is 1×0.5=0.5.

Sub-step S32, determining the maximum value of the index information in the acquired focus information.

Sub-step S33: Determine the difference between the index information in the focus information to be processed and the above-mentioned maximum value.

In sub-step S34, the product of the compensation coefficient and the difference is used as the compensation value. As an example, the maximum value of the index information in the acquired focus information is 10, the index information in the to-be-processed focus information is 6, and the difference between the index information in the to-be-processed focus information and the above-mentioned maximum value is 4. At this time, the above compensation coefficient 0.5 can be multiplied by the difference 4 to obtain 2, and the compensation value is set to 2.

Sub-step S35: Compensate the index information in the focus information to be processed based on the compensation value. For example, the index information in the focus information to be processed may be compensated by adding the compensation value to the index information in the focus information to be processed.

This compensation value calculation method can ensure that the compensated index information should be smaller than the maximum value of the index information in the acquired focus information, so that the value of the compensated index information can be more reasonable and accurate.

It should be noted that, if each target focus information satisfies the preset condition, step 707 may be directly executed. If the amount of target focus information that does not meet the preset condition is greater than the above-mentioned third preset threshold, it may be considered that too much target focus information is collected when the subject is slightly shaken. To avoid unclear focus, the focus operation can be re-executed at this time.

Step 707: Determine the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target.

In this embodiment, for the specific implementation principle and process of step 707, reference may be made to step 103 in the corresponding embodiment of FIG. 1, and details are not repeated here.

Step 708, controlling the lens to move to the lens position when focusing is achieved, so as to complete focusing.

In this embodiment, for the specific implementation principle and process of step 708, reference may be made to step 103 in the corresponding embodiment of FIG. 1, and details are not repeated here.

In the method provided by the above embodiments of the present application, by compensating the index information in the target focus information that does not meet the preset conditions, the error of the index information when the device is slightly shaken can be reduced or eliminated, thereby making the index information more accurate . Determining the lens position when focusing is achieved based on the compensated index information can improve the accuracy of the calculation, thereby improving the accuracy of focusing.

Further referring to FIG. 9 , as an implementation of the methods shown in the above figures, the present application provides an embodiment of a focusing device, which corresponds to the method embodiment shown in FIG. 9 .

As shown in FIG. 9 , the focusing device in this embodiment includes: an obtaining unit 901 configured to obtain focusing information when the lens samples each frame of image during the focusing process. The focusing information includes equipment shake information, lens position information, and focusing area in the image. index information; the screening unit 902 is configured to filter out candidate focus information based on the device shake information; the determination unit 903 is configured to determine, based on the lens position information and the index information in the candidate focus information, The position of the lens when focusing; the control unit 904 is configured to control the lens to move to the position of the lens to complete focusing.

In some optional implementation manners of this embodiment, the foregoing device jitter information is collected by an inertial sensor.

In some optional implementations of this embodiment, the inertial sensor includes an acceleration sensor, and the device shaking information is the sum of the accelerations of each axis collected by the acceleration sensor.

In some optional implementations of this embodiment, the above-mentioned device jitter information is a numerical value representing the degree of device jitter; and, the above-mentioned screening unit is further configured to: determine the focus information whose device jitter information is less than the first preset threshold. is the candidate focus information.

In some optional implementations of this embodiment, the above-mentioned device shake information is a numerical value representing the degree of device shake; and the above-mentioned screening unit is further configured to: take the focus information with the largest index information as the reference focus information, and use the above Referring to the lens position corresponding to the focus information as the first reference position, detect the distance between the lens position corresponding to each focus information and the above-mentioned first reference position; set the focus whose distance is less than the second preset threshold and the device shake information is less than the first preset threshold information is determined as candidate focus information.

In some optional implementations of this embodiment, the above determining unit is further configured to: use the candidate focus information with the largest index information as the first target focus information; use the lens position corresponding to the first target focus information as the first target focus information For the second reference position, each candidate focus information whose lens position is adjacent to the second reference position is used as the second target focus information, respectively; from the candidate focus information, the above-mentioned first target focus information and each second target focus information are selected. Further, based on the lens position information and index information in the first target focus information and each second target focus information, the lens position when focusing is achieved is determined.

In some optional implementations of this embodiment, the above determination unit is further configured to: select a preset number of candidate focus information as target focus information, and based on the lens position information and index information in each target focus information, Determines the lens position when focus is achieved.

In some optional implementations of this embodiment, the above-mentioned apparatus further includes: a first detection unit, configured to detect whether the device jitter information in the focus information of each target satisfies a preset condition; a statistics unit, configured to respond to There is target focus information that does not meet the above preset conditions, and counts the number of target focus information that does not meet the above preset conditions; the compensation unit is configured to respond to the above number being less than or equal to a third preset threshold value, and to not meet the above predetermined thresholds. The index information in the target focus information of the set condition is compensated.

In some optional implementations of this embodiment, the compensation unit is further configured to: take each target focus information that does not meet the above preset conditions as the focus information to be processed, and perform the following steps: based on the focus to be processed equipment shake information in the information, determine the compensation coefficient; determine the maximum value of the index information in the acquired focus information; determine the difference between the index information in the above-mentioned to-be-processed focus information and the above-mentioned maximum value; The product of the values is used as a compensation value; based on the compensation value, the index information in the focus information to be processed is compensated.

In some optional implementations of this embodiment, the above-mentioned apparatus further includes: a first execution unit configured to re-execute the focusing operation in response to the above-mentioned number being greater than the above-mentioned third preset threshold.

In some optional implementations of this embodiment, the above-mentioned apparatus further includes: a second detection unit, configured to detect whether the device jitter information in the focus information of each target satisfies a preset condition; a second execution unit, configured to For each target focus information that does not meet the above preset conditions, use any focus information adjacent to the target focus information as new target focus information, and re-execute the above-mentioned detection of whether the device shake information in each target focus information meets the preset requirements. Conditional steps.

In some optional implementations of this embodiment, the above determination unit is further configured to: take the device shake information in the focus information of each target as the abscissa, and use the lens position information as the ordinate, based on the focus information of each target coordinate to construct a curve; determine the ordinate of the vertex of the above-mentioned curve; determine the lens position indicated by the ordinate of the above-mentioned vertex as the lens position when focusing is achieved.

In some optional implementations of this embodiment, the index information of the focus area is determined through the following steps: filtering the focus area by using a finite impulse response filter or a wireless impulse response filter to obtain a filter result graph; The contrast ratio is determined as the indicator information.

In some optional implementations of this embodiment, the above-mentioned finite impulse response filter includes a Sobel operator or a Laplacian operator.

In some optional implementations of this embodiment, the above-mentioned wireless impulse response filter is generated by the following steps: converting the focus area into a frequency-domain signal through Fourier transform; normalizing the above-mentioned frequency-domain signal; The distribution of the frequency domain signal, determine the target frequency band; based on the above target frequency band, set the filter.

The focusing method provided by the above-mentioned embodiments of the present application first obtains the focusing information when the lens samples each frame of images during the focusing process, then selects the candidate focusing information based on the device shake information in the focusing information, and then selects a preset number of candidates The focus information is used as target focus information, and based on the lens position information and index information in each target focus information, the lens position when focusing is determined, so as to control the lens to move to the lens position to complete the focus. In the process of determining the position of the lens when the focus is achieved, the shaking of the device is taken into account, which improves the accuracy of determining the position of the lens when the focus is achieved, thereby effectively improving the accuracy of the focusing.

As an implementation of the above method shown in FIG. 1 , the present application provides an embodiment of an electronic device, which corresponds to the method embodiment shown in FIG. 1 . Specifically, the electronic device may include: a processor 1001 and a memory 1002 .

The above-mentioned memory 1001 can be used to store program instructions.

The above-mentioned processor 1002 can be used to execute the program instructions stored in the above-mentioned memory. When the program instructions are executed, the above-mentioned processor can be used to perform the following steps: acquiring the focusing information when the lens samples each frame of images in the focusing process, and the focusing The information includes equipment shake information, lens position information, and index information of the focus area in the image; based on the equipment shake information, candidate focus information is screened; based on the lens position information and the index information in the candidate focus information, the The lens position when focusing; control the lens to move to the lens position to complete focusing. In one embodiment, determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information includes: selecting a preset number of candidate focus information as target focus information, and based on The lens position information and index information in the focus information of each target determine the lens position when focusing is achieved.

In some optional implementation manners of this embodiment, the device jitter information is collected by an inertial sensor.

In some optional implementations of this embodiment, the inertial sensor includes an acceleration sensor, and the device shaking information is the sum of accelerations of each axis collected by the acceleration sensor.

In some optional implementations of this embodiment, the device jitter information is a numerical value representing the degree of device jitter; and the filtering out candidate focus information based on the device jitter information includes: setting the device jitter information to be smaller than the first Focus information of a preset threshold is determined as candidate focus information.

In some optional implementations of this embodiment, the device jitter information is a numerical value representing the degree of device jitter; and the selection of candidate focus information based on the device jitter information includes: selecting the focus information with the largest index information As the reference focus information, the lens position corresponding to the reference focus information is used as the first reference position, and the distance between the lens position corresponding to each focus information and the first reference position is detected; the distance is smaller than the second preset threshold and the device shakes Focus information whose information is less than the first preset threshold is determined as candidate focus information.

In some optional implementations of this embodiment, the selecting a preset number of candidate focus information as the target focus information includes: using the candidate focus information with the largest index information as the first target focus information; The lens position corresponding to the target focus information is used as the second reference position, and each candidate focus information whose lens position is adjacent to the second reference position is used as the second target focus information; from the candidate focus information, the first target is selected Focus information and each second target focus information.

In some optional implementations of this embodiment, before determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, the processor is further configured to perform the following steps: Detecting whether the device shake information in each target focus information meets a preset condition; in response to the existence of target focus information that does not meet the preset condition, count the number of target focus information that does not meet the preset condition; in response to the The number is less than or equal to the third preset threshold, and the index information in the target focus information that does not meet the preset condition is compensated.

In some optional implementations of this embodiment, the compensating the index information in the target focus information that does not meet the preset condition includes: compensating each target focus information that does not meet the preset condition As the focus information to be processed, the following steps are performed: based on the device shake information in the focus information to be processed, determine a compensation coefficient; determine the maximum value of the index information in the focus information obtained; determine the focus information in the focus information to be processed. The difference between the index information and the maximum value; the product of the compensation coefficient and the difference is used as a compensation value; the index information in the focus information to be processed is compensated based on the compensation value.

In some optional implementations of this embodiment, after the counting of the number of target focusing information that does not meet the preset condition, the processor is further configured to perform the following step: in response to the number being greater than the predetermined condition The third preset threshold is set, and the focusing operation is re-executed.

In some optional implementations of this embodiment, before determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, the processor is further configured to perform the following steps: Detecting whether the device shake information in each target focus information satisfies a preset condition; for each target focus information that does not meet the preset condition, take any focus information adjacent to the target focus information as new target focus information, Re-execute the step of detecting whether the device shake information in the focus information of each target satisfies the preset condition.

In some optional implementations of this embodiment, the determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target includes: taking the device shake information in the focus information of each target as The abscissa, taking the lens position information as the ordinate, constructs a curve based on the coordinates of the focus information of each target; determining the ordinate of the vertex of the curve; determining the position of the lens indicated by the ordinate of the vertex as the focus lens position.

In some optional implementations of this embodiment, the index information of the focus area is determined by the following steps: filtering the focus area by using a finite impulse response filter or a wireless impulse response filter to obtain a filter result graph; The contrast of the graph is determined as index information.

In some optional implementations of this embodiment, the finite impulse response filter includes a Sobel operator or a Laplacian operator.

In some optional implementations of this embodiment, the wireless impulse response filter is generated by the following steps: converting the focus area into a frequency domain signal through Fourier transform; normalizing the frequency domain signal ; Determine the target frequency band based on the distribution of the frequency domain signal; set the filter based on the target frequency band.

The electronic device provided by the above-mentioned embodiment of the present application first obtains the focus information when the lens samples each frame of images during the focusing process, then selects candidate focus information based on the device shake information in the focus information, and then selects a preset number of focus information. The candidate focus information is used as target focus information, and based on the lens position information and index information in each target focus information, the lens position when focus is achieved is determined, so as to control the lens to move to the lens position to complete the focus. In the process of determining the position of the lens when the focus is achieved, the shaking of the device is taken into account, which improves the accuracy of determining the position of the lens when the focus is achieved, thereby effectively improving the accuracy of the focusing.

As for the electronic device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the partial description of the method embodiment.

Embodiments of the present application further provide a computer-readable medium, where a computer program is stored on the computer-readable medium. When the computer program is executed by a processor, each process of the above-mentioned embodiments of the focusing method can be achieved, and the same technical effect can be achieved. In order to avoid repetition, when the computer program is executed by the processor, each process of the embodiments of the above-mentioned methods is implemented, which will not be repeated here.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other.

It should be understood by those skilled in the art that the embodiments of the present application may be provided as a method, an apparatus, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable media having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.

These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby executing on the computer or other programmable terminal equipment The instructions executed on the above provide steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

While the preferred embodiments of the present application have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment and all changes and modifications that fall within the scope of this application.

Finally, it should also be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply these entities or that there is any such actual relationship or sequence between operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or terminal device comprising a list of elements includes not only those elements, but also a non-exclusive list of elements. other elements, or also include elements inherent to such a process, method, article or terminal equipment. Without further limitation, an element defined by the phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

The methods, apparatuses, electronic devices and computer-readable media provided by the present application have been described in detail above. The principles and implementations of the present application are described with specific examples. The descriptions of the above embodiments are only It is used to help understand the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there will be changes in the specific embodiments and application scope. The contents of the description should not be construed as limiting the application.

Claims (46)

1. A focusing method, characterized in that the method comprises:

   Acquire focusing information when the lens samples multiple frames of images in the focusing process, where the focusing information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

   based on the device shake information, screening out candidate focus information;

   determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

   The lens is controlled to move to the lens position to complete focusing.
2. The method according to claim 1, wherein the device shake information is collected by an inertial sensor; and the index information is used to indicate the sharpness of the object in the focus area in the multi-frame image.
3. The method according to claim 2, wherein the inertial sensor comprises an acceleration sensor, and the device shaking information is the sum of the accelerations of each axis collected by the acceleration sensor.
4. The method according to claim 1, wherein the equipment jitter information is a numerical value representing the degree of equipment jitter; and,

   The selection of candidate focus information based on the device shake information includes:

   Focus information whose device shake information is less than the first preset threshold is determined as candidate focus information.
5. The method according to claim 1, wherein the equipment jitter information is a numerical value representing the degree of equipment jitter; and,

   The selection of candidate focus information based on the device shake information includes:

   The focus information with the largest index information is used as the reference focus information, the lens position corresponding to the reference focus information is used as the first reference position, and the distance between the lens position corresponding to each focus information and the first reference position is detected;

   Focus information whose distance is less than the second preset threshold and whose device shake information is less than the first preset threshold is determined as candidate focus information.
6. The method according to claim 1, wherein the determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information comprises:

   The candidate focus information with the largest index information is used as the first target focus information;

   The lens position corresponding to the first target focus information is used as the second reference position, and each candidate focus information whose lens position is adjacent to the second reference position is respectively used as the second target focus information;

   Based on the lens position information and index information in the first target focus information and each second target focus information, the lens position when focusing is achieved is determined.
7. The method according to claim 1, wherein the determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information comprises:

   A preset number of candidate focus information is selected as target focus information, and based on the lens position information and the index information in each target focus information, the lens position when focusing is achieved is determined.
8. The method according to claim 7, wherein before determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, the method further comprises:

   Detect whether the device shake information in the focus information of each target meets the preset condition;

   In response to the existence of target focus information that does not meet the preset condition, count the number of target focus information that does not meet the preset condition;

   In response to the number being less than or equal to the third preset threshold, the index information in the target focus information that does not satisfy the preset condition is compensated.
9. The method according to claim 8, wherein the compensating the index information in the target focus information that does not meet the preset condition comprises:

   Take each target focus information that does not meet the preset conditions as the focus information to be processed, and perform the following steps:

   determining a compensation coefficient based on the device shake information in the focus information to be processed;

   determining the maximum value of the index information in the acquired focus information;

   determining the difference between the index information in the focus information to be processed and the maximum value;

   taking the product of the compensation coefficient and the difference as a compensation value;

   The index information in the focus information to be processed is compensated based on the compensation value.
10. The method according to claim 8, wherein after the counting the number of target focusing information that does not meet the preset condition, the method further comprises:

    In response to the number being greater than the third preset threshold, the focusing operation is re-performed.
11. The method according to claim 7, wherein before determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, the method further comprises:

    Detect whether the device shake information in the focus information of each target meets the preset condition;

    For each target focus information that does not meet the preset conditions, use any focus information adjacent to the target focus information as new target focus information, and re-execute the detection of whether the device shake information in each target focus information meets the requirements Pre-conditional steps.
12. The method according to claim 7, wherein determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, comprising:

    Taking the lens position information in the focus information of each target as the abscissa and the index information as the ordinate, and constructing a curve based on the coordinates of the focus information of each target;

    determining the abscissa of the apex of the curve;

    The lens position indicated by the abscissa of the vertex is determined as the lens position when focusing is achieved.
13. The method according to claim 1, wherein the index information of the focus area is determined by the following steps:

    Use the finite impulse response filter or the wireless impulse response filter to filter the focus area, and obtain the filtering result map;

    The contrast of the filtering result map is determined as index information.
14. The method of claim 13, wherein the finite impulse response filter comprises a Sobel operator or a Laplacian operator.
15. The method of claim 13, wherein the wireless impulse response filter is generated by the following steps:

    Convert the focus area to a frequency domain signal through Fourier transform;

    normalizing the frequency domain signal;

    Determine the target frequency band based on the distribution of the frequency domain signal;

    Based on the target frequency band, a filter is set.
16. A focusing device, characterized in that the device comprises:

    an acquisition unit, configured to acquire focus information when the lens samples multiple frames of images in the focusing process, where the focus information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

    a screening unit, configured to screen out candidate focus information based on the device shake information;

    a determining unit, configured to determine the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

    The control unit is configured to control the lens to move to the lens position to complete focusing.
17. The apparatus according to claim 16, wherein the device shake information is collected by an inertial sensor; and the index information is used to indicate the sharpness of the object in the focus area in the multi-frame image.
18. The device according to claim 17, wherein the inertial sensor comprises an acceleration sensor, and the device shaking information is the sum of the accelerations of each axis collected by the acceleration sensor.
19. The apparatus according to claim 16, wherein the equipment jitter information is a numerical value representing the degree of equipment jitter; and,

    The screening unit is further configured to:

    Focus information whose device shake information is less than the first preset threshold is determined as candidate focus information.
20. The apparatus according to claim 16, wherein the equipment jitter information is a numerical value representing the degree of equipment jitter; and,

    The screening unit is further configured to:

    The focus information with the largest index information is used as the reference focus information, the lens position corresponding to the reference focus information is used as the first reference position, and the distance between the lens position corresponding to each focus information and the first reference position is detected;

    Focus information whose distance is less than the second preset threshold and whose device shake information is less than the first preset threshold is determined as candidate focus information.
21. The apparatus according to claim 16, wherein the determining unit is further configured to:

    The candidate focus information with the largest index information is used as the first target focus information;

    The lens position corresponding to the first target focus information is used as the second reference position, and each candidate focus information whose lens position is adjacent to the second reference position is respectively used as the second target focus information;

    Based on the lens position information and index information in the first target focus information and the second target focus information, the lens position when focusing is achieved is determined.
22. The apparatus according to claim 16, wherein the determining unit is further configured to:

    A preset number of candidate focus information is selected as target focus information, and based on the lens position information and the index information in each target focus information, the lens position when focusing is achieved is determined.
23. The apparatus of claim 22, wherein the apparatus further comprises:

    a first detection unit, configured to detect whether the device shake information in the focus information of each target satisfies a preset condition;

    a counting unit, configured to count the number of target focusing information that does not meet the preset condition in response to the presence of target focusing information that does not meet the preset condition;

    The compensation unit is configured to compensate the index information in the target focus information that does not satisfy the preset condition in response to the number being less than or equal to the third preset threshold.
24. The apparatus of claim 23, wherein the compensation unit is further configured to:

    Take each target focus information that does not meet the preset conditions as the focus information to be processed, and perform the following steps:

    determining a compensation coefficient based on the device shake information in the focus information to be processed;

    determining the maximum value of the index information in the acquired focus information;

    determining the difference between the index information in the focus information to be processed and the maximum value;

    taking the product of the compensation coefficient and the difference as a compensation value;

    The index information in the focus information to be processed is compensated based on the compensation value.
25. The apparatus of claim 23, wherein the apparatus further comprises:

    The first execution unit is configured to re-execute the focusing operation in response to the number being greater than the third preset threshold.
26. The apparatus of claim 22, wherein the apparatus further comprises:

    a second detection unit, configured to detect whether the device shake information in the focus information of each target satisfies a preset condition;

    The second execution unit is configured to, for each target focus information that does not meet the preset condition, use any focus information adjacent to the target focus information as new target focus information, and re-execute the detection of each target focus The steps of whether the equipment jitter information in the information meets the preset conditions.
27. The device according to claim 22, wherein the determining unit is further configured to:

    Taking the device shake information in the focus information of each target as the abscissa and the lens position information as the ordinate, and constructing a curve based on the coordinates of the focus information of each target;

    determining the ordinate of the vertex of the curve;

    The lens position indicated by the ordinate of the vertex is determined as the lens position when focusing is achieved.
28. The device according to claim 16, wherein the index information of the focus area is determined by the following steps:

    Use the finite impulse response filter or the wireless impulse response filter to filter the focus area, and obtain the filtering result map;

    The contrast of the filtering result map is determined as index information.
29. The apparatus of claim 28, wherein the finite impulse response filter comprises a Sobel operator or a Laplacian operator.
30. The apparatus of claim 28, wherein the wireless impulse response filter is generated by the steps of:

    Convert the focus area to a frequency domain signal through Fourier transform;

    normalizing the frequency domain signal;

    Determine the target frequency band based on the distribution of the frequency domain signal;

    Based on the target frequency band, a filter is set.
31. An electronic device, comprising: a processor and a memory;

    the memory for storing program instructions;

    The processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:

    Acquire focusing information when the lens samples multiple frames of images in the focusing process, where the focusing information includes device shake information, lens position information, and index information of the focus area in the multiple frames of images;

    based on the device shake information, screening out candidate focus information;

    determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information;

    The lens is controlled to move to the lens position to complete focusing.
32. The electronic device according to claim 31, wherein the device shake information is collected by an inertial sensor; and the index information is used to indicate the sharpness of the object in the focus area in the multi-frame image.
33. The electronic device according to claim 32, wherein the inertial sensor comprises an acceleration sensor, and the device shaking information is the sum of accelerations of each axis collected by the acceleration sensor.
34. The electronic device according to claim 31, wherein the device jitter information is a numerical value representing the degree of device jitter; and,

    The selection of candidate focus information based on the device shake information includes:

    Focus information whose device shake information is less than the first preset threshold is determined as candidate focus information.
35. The electronic device according to claim 31, wherein the device jitter information is a numerical value representing the degree of device jitter; and,

    The selection of candidate focus information based on the device shake information includes:

    The focus information with the largest index information is used as the reference focus information, the lens position corresponding to the reference focus information is used as the first reference position, and the distance between the lens position corresponding to each focus information and the first reference position is detected;

    Focus information whose distance is less than the second preset threshold and whose device shake information is less than the first preset threshold is determined as candidate focus information.
36. The electronic device according to claim 31, wherein the determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information comprises:

    The candidate focus information with the largest index information is used as the first target focus information;

    Taking the lens position corresponding to the first target focus information as the second reference position, and using each candidate focus information whose lens position is adjacent to the second reference position as the second target focus information;

    Based on the lens position information and index information in the first target focus information and the second target focus information, the lens position when focusing is achieved is determined.
37. The electronic device according to claim 31, wherein the determining the lens position when focusing is achieved based on the lens position information and the index information in the candidate focus information comprises:

    A preset number of candidate focus information is selected as target focus information, and based on the lens position information and the index information in each target focus information, the lens position when focusing is achieved is determined.
38. The electronic device according to claim 37, wherein before determining the lens position when focusing is achieved based on the lens position information and the index information in the focus information of each target, the processor is further configured to perform the following steps :

    Detect whether the device shake information in the focus information of each target meets the preset condition;

    In response to the existence of target focus information that does not meet the preset condition, count the number of target focus information that does not meet the preset condition;

    In response to the number being less than or equal to the third preset threshold, the index information in the target focus information that does not satisfy the preset condition is compensated.
39. The electronic device according to claim 38, wherein the compensating the index information in the target focus information that does not meet the preset condition comprises:

    Take each target focus information that does not meet the preset conditions as the focus information to be processed, and perform the following steps:

    determining a compensation coefficient based on the device shake information in the focus information to be processed;

    determining the maximum value of the index information in the acquired focus information;

    determining the difference between the index information in the focus information to be processed and the maximum value;

    taking the product of the compensation coefficient and the difference as a compensation value;

    The index information in the focus information to be processed is compensated based on the compensation value.
40. The electronic device according to claim 38, wherein after counting the number of target focusing information that does not meet the preset condition, the processor is further configured to perform the following steps:

    In response to the number being greater than the third preset threshold, the focusing operation is re-performed.
41. The electronic device according to claim 37, wherein, before determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, the processor is further configured to perform the following steps :

    Detect whether the device shake information in the focus information of each target meets the preset condition;

    For each target focus information that does not meet the preset conditions, use any focus information adjacent to the target focus information as new target focus information, and re-execute the detection of whether the device shake information in each target focus information meets the requirements Pre-conditional steps.
42. The electronic device according to claim 37, wherein the determining the lens position when focusing is achieved based on the lens position information and index information in the focus information of each target, comprising:

    Taking the device shake information in the focus information of each target as the abscissa and the lens position information as the ordinate, and constructing a curve based on the coordinates of the focus information of each target;

    determining the ordinate of the vertex of the curve;

    The lens position indicated by the ordinate of the vertex is determined as the lens position when focusing is achieved.
43. The electronic device according to claim 31, wherein the index information of the focus area is determined by the following steps:

    Use the finite impulse response filter or the wireless impulse response filter to filter the focus area, and obtain the filtering result map;

    The contrast of the filtering result map is determined as index information.
44. The electronic device of claim 43, wherein the finite impulse response filter comprises a Sobel operator or a Laplacian operator.
45. The electronic device of claim 43, wherein the wireless impulse response filter is generated by the following steps:

    Convert the focus area to a frequency domain signal through Fourier transform;

    normalizing the frequency domain signal;

    Determine the target frequency band based on the distribution of the frequency domain signal;

    Based on the target frequency band, a filter is set.
46. A computer-readable medium, characterized in that a computer program is stored in the computer-readable medium, and when the computer program is executed by a processor, the method according to any one of claims 1-15 is implemented.

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