WO2022213339A1

WO2022213339A1 - Focusing method, photographing device, photographing system, and readable storage medium

Info

Publication number: WO2022213339A1
Application number: PCT/CN2021/086072
Authority: WO
Inventors: 滕文猛; 韩守谦; 胡涛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2022-10-13

Abstract

A focusing method (200), a photographing device, a photographing system, and a readable storage medium. The focusing method comprises: acquiring a first lens position and a second lens position that are used to enable a photographing target to be in a focusing state in a photographing picture of a photographing device (S201), wherein the first lens position is determined on the basis of a first focusing method, and the second lens position is determined on the basis of a second focusing method; determining a focusing manner on the basis of a preset rule, and focusing the photographing device on the basis of the determined focusing manner (S202), the focusing manner comprising any one of the following manners: focusing the photographing device on the basis of one of the first lens position and the second lens position, or focusing the photographing device on the basis of one of the first lens position, the second lens position, and a third lens position which is determined by a third focusing method, wherein the third focusing method, the first focusing method, and the second focusing method are different methods. In the method, hybrid automatic focusing can be implemented, and the accuracy is high.

Description

Focusing method, photographing device, photographing system, and readable storage medium

technical field

The present application generally relates to the field of focusing, and more particularly, to a focusing method, a photographing device, a photographing system, and a readable storage medium.

Background technique

Most SLR cameras, mirrorless cameras, and movie cameras have manual focus modes. For example, SLR cameras can use an independent phase sensor to assist manual focusing, and some mirrorless cameras can use built-in Phase Detection (PD) pixels. The image sensor assists manual focusing, and some movie cameras also have high-end PD technology to assist manual focusing. However, at present, PD sensors perform poorly in low-light environments and low-contrast environments, and the more PD pixels, the better the focusing performance, and the better the image quality. the worse.

SUMMARY OF THE INVENTION

A series of concepts in simplified form have been introduced in the Summary section, which are described in further detail in the Detailed Description section. The Summary of the Invention section of the present invention is not intended to attempt to limit the key features and essential technical features of the claimed technical solution, nor is it intended to attempt to determine the protection scope of the claimed technical solution.

A first aspect of the embodiments of the present application provides a focusing method, the method includes: acquiring a first lens position and a second lens position for enabling a shooting target to be in a focus state in a shooting picture of a shooting device, wherein, The first lens position is determined based on a first focusing method, the second lens position is determined based on a second focusing method, and the first focusing method is different from the second focusing method; the focusing method is determined based on a preset rule , and focus the photographing device based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on one of the first lens position and the second lens position Focusing on the photographing device, or focusing on the photographing device based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method, wherein the first lens position The three focusing method is different from the first focusing method and the second focusing method.

A second aspect of the embodiments of the present application provides a photographing device, and the photographing device includes:

a memory that stores computer-executed instructions;

At least one processor, the at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when executing the computer-executed instructions:

acquiring a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is based on a first focusing method;

A focusing mode is determined based on a preset rule, and the photographing device is focused based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on the first lens position and the One of the second lens positions focuses the photographing device, or the photographing device is focused on the photographing device based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method focusing, wherein the third focusing method is different from the first focusing method and the second focusing method.

A third aspect of an embodiment of the present application provides a shooting system, including: a pan/tilt and the shooting device described in the third aspect; the pan/tilt is used to carry the shooting device.

A fourth aspect of the embodiments of the present application provides a readable storage medium, where a computer program is stored on the readable storage medium; when the computer program is executed, the focusing method as described above is implemented.

The present application provides a focusing method, a photographing device, a photographing system, and a readable storage medium. In the focusing method of the present application, a focusing mode is determined based on a preset rule, and the photographing device is focused based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on the first lens position and all the focusing on the photographing device based on one of the second lens positions, or focusing on the photographing device based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method Focusing is performed, wherein the first focusing method, the second focusing method and the third focusing method are different focusing methods. The focusing method of the present application does not depend on the performance of the image sensor, and can realize the Fast focusing, and the focusing method of the present application does not need to use PD pixels, so for the image sensor, the quality of the captured picture will not be affected in the slightest. Accuracy and effectiveness of focusing methods.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

In the attached image:

FIG. 1 shows a schematic structural diagram of a photographing system provided by an embodiment of the present application;

2 shows a schematic diagram of a focusing process in a second focusing method provided by an embodiment of the present application;

FIG. 3 shows a schematic flowchart of a focusing method in an embodiment of the present application;

FIG. 4 shows a schematic flowchart of a focusing method in another embodiment of the present application;

FIG. 5 shows a schematic structural diagram of a photographing device in another embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application more apparent, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid confusion with the present application.

It should be understood that the application may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present application, detailed structures will be presented in the following description in order to explain the technical solutions proposed by the present application. Alternative embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.

A first aspect of the present application provides a focusing method. As shown in FIG. 3 , the method 200 includes:

Step S201: Acquire a first lens position and a second lens position for enabling the shooting target to be in an in-focus state in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, the The second lens position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

Step S202: Determine a focusing mode based on a preset rule, and focus the photographing device based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on the first lens position and one of the second lens positions to focus the photographing device, or based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method The photographing device performs focusing, wherein the third focusing method is different from the first focusing method and the second focusing method.

In order to better illustrate the above-mentioned focusing method, a brief description of the photographing device is given below with reference to the accompanying drawings. Among them, the photographing device can operate independently as the execution subject, and can also be set on the gimbal, and the gimbal is used as the carrying subject for shooting.

1 is a schematic structural diagram of a photographing system provided according to an embodiment of the present application. As shown in FIG. 1 , the photographing system may include a distance sensor 110 and a photographing device 130 .

The distance sensor 110 includes a transmitting device 111, a receiving device 112 and a control device 113, which are used to control the transmitting device 111 to transmit an optical signal through the control device 113, and receive the reflected optical signal through the receiving device 112, so as to collect distance sensing data, The real-time distance between the photographing target and the photographing device 130 is obtained according to the distance sensing data. Optionally, the receiving device 112 may be a receiving array. The sensing data collected by the distance sensor 110 may include the measured distances M between the distance sensor 110 and the shooting target corresponding to different sampling moments. If the distance difference between the distance sensor 110 and the photographing device 130 is a fixed value L, the real-time distance between the photographing target and the photographing device 130 can be determined according to M and L. For example, if the reference plane of the distance sensor is located behind the focal plane of the lens, that is, on the side of the lens away from the shooting target, the real-time distance between the shooting device 130 and the shooting target is the value M-L obtained by subtracting the distance difference L from the measured distance M . The calculation and processing of the real-time distance may be performed by the distance sensor 110, the photographing device 130 or the pan/tilt head, which is not limited in this embodiment.

The photographing system may further include a follow focus motor 120, the follow focus motor 120 is an actuator that drives the rotation of the lens 131 of the photographing device 130, and includes a position controller 121 and a gear, the position controller 121 is used for according to the follow focus motor. The control command given by the follow focus wheel 140 connected to 120 or the control command given by the controller connected with the distance sensor 110, output torque, and drive the lens 131 engaged with the follow focus motor 120 to focus through gear transmission, so as to make the shooting target It is in the in-focus state in the photographing screen of the photographing device 130 . Optionally, the follow focus motor 120 is engaged with a follow focus ring of the lens 131 in the photographing device 130 . Wherein, the focus wheel 140 may be an independent control device, or may be integrated on the PTZ.

In one embodiment, the follow focus motor 120 is connected in communication with the gimbal, and is used for receiving a user's control instruction for the follow focus motor 120 . Specifically, the operating member of the follow focus motor 120 can be provided on the hand-held part of the gimbal, and the operating member is used to receive a user's control command for the follow focus motor and further drive the follow focus motor according to the control command, so as to control the photographing device 130 to focus. The operating member may include, but is not limited to, the focus wheel 140 .

The photographing device 130 includes a lens 131 and a camera body 132 , and the lens 131 is provided on the camera body 132 . After the follow focus motor 120 drives the lens 131 to focus, that is, when the photographing target is in the in-focus state in the photographing screen of the photographing device 130, the photographing device 130 can photograph the photographing target to obtain an image. The camera body 132 may be a camera body of a handheld single-lens reflex camera or a mirrorless camera. The lens 131 in this embodiment can support manual focus and automatic focus.

Optionally, the photographing system may further include a pan/tilt head. The photographing device 130 and the follow focus motor 120 are carried on the gimbal. The follow focus motor 120 and the bottom of the camera body 132 can be fixedly connected by using the accessories of the gimbal. After the lens 131 is mounted on the camera body 132 through the bayonet, the follow focus motor 120 can drive the lens 131 to rotate through the follow focus ring.

The photographing system may further include a follow focus wheel 140 , and the follow focus wheel 140 can push the current rotational position and rotational speed data of the follow focus wheel 140 to the follow focus motor 120 , so that the follow focus motor 120 rotates to the same level as the follow focus wheel 140 . the corresponding specified location. Wherein, parameters can be calibrated, for example, the follow focus motor 120 can be driven by the follow focus wheel 140 to reach at least two focus calibration points, so as to complete the mapping between the real-time distance between the shooting device 130 and the shooting target and the rotation position of the follow focus motor 120 Calibration of the relationship.

In addition, the photographing system includes a display device 150 for displaying pictures shot by the photographing equipment, such as a live view picture, a setting interface of the photographing equipment, etc., and can also be used for displaying various prompt information, such as prompt information on completion of focusing.

In an example, the display device 150 may be provided in the photographing device 130, for example, an interactive interface inherent in the photographing device 130 for displaying various information, and various visual information, such as real-time information, are directly displayed to the user through the interactive interface during the photographing process. A viewfinder screen, a setting interface of a photographing device, etc., for another example, in response to a user's instruction for selecting a region of interest, a selection frame of the region of interest is displayed, and the like.

In another example, the display device may be provided outside the photographing device 130, independent of the photographing device 130, but connected in communication with the photographing device 130, and transmits the framing image of the photographing device 130 to the display device through the communication connection and displays it to the user Framing the image.

For example, the display device 150 may also be disposed on the pan/tilt, such as a handheld part integrated in the pan/tilt. Or the display device 150 is detachably arranged on the mounting seat of the pan/tilt (eg, connected to the handle), and the display device 150 is connected in communication with the pan/tilt, and the photographing device 130 is connected in communication with the pan/tilt, and the photographing device 130 obtains the collected image information. The information to be displayed to the user is transmitted to the PTZ, and the PTZ then transmits the information to be displayed to the user to the display device 150 and displays it to the user through the display device 150 for focusing. It should be noted that the display device 150 is not limited to the listed installation positions, and the display device 150 may also be installed at other positions of the pan/tilt.

In this embodiment of the present application, in addition to manual focusing, the photographing device 130 can also focus automatically. Based on this, the user can also select a mode by inputting a selection instruction on the display device 150 and switch the auto follow focus mode to the manual follow focus mode, thereby realizing flexible switching between the manual follow focus mode and the automatic follow focus mode.

Wherein, in the manual focus mode, the focus can be achieved by using the follow focus wheel 140 to control the position of the follow focus motor 120, or by directly manually rotating the position of the lens to focus. For example, in an embodiment of the present application, the follow focus motor 120 can obtain a user's control instruction for the follow focus motor 120; and drive the follow focus motor 120 according to the control instruction, output torque, and drive and follow focus through gear transmission The lens that engages the camera's motor is focused so that the subject is in focus in the shooting device's frame. In another embodiment of the present application, the photographing system may also not include the follow focus motor 120, but manually move the lens, so that the current lens position is manually adjusted to the target lens position by the user, thereby achieving focusing .

In the auto focus mode, the follow focus wheel 140 can be controlled by the processor, and the follow focus wheel 140 can control the position of the follow focus motor 120 to automatically focus, or the lens of the photographing device is coupled with a follow focus motor, and the follow focus motor The motor is used to drive the lens of the photographing device to rotate, so as to focus.

It should be understood that the above naming of each component of the photographing system is only for the purpose of identification, and should not be construed as a limitation on the embodiments of the present application.

It should be noted that the photographing device 130 may not be provided on the pan/tilt, and the focusing method of the present application can be implemented independently by the photographing device 130, wherein the composition and operation method of the photographing device 130 herein are not carried on the pan/tilt and are not carried by the photographing device 130. Under the premise of contradicting each other, all relevant explanations and descriptions may be introduced into the photographing device 130 , which will not be repeated here.

In this application, the execution subject of the focusing method may be a processing device with independent computing capabilities, such as the follow focus motor 120, the distance sensor 110, the photographing device 130 or the pan/tilt in the embodiment shown in FIG. 1 . Of course, this embodiment The method can also be performed by one device to perform some steps, and another device to perform other steps, that is, it can be performed by any combination of the follow focus motor 120, the distance sensor 110, the photographing device 130 and the pan/tilt head, for example, to follow focus Taking the combination of the follower motor 120 and the pan/tilt as an example, the follow focus motor 120 may perform some steps, and the pan/tilt may perform the remaining steps, so that the follow focus motor 120 and the pan/tilt jointly perform the focusing method provided in this embodiment.

In step S201, in an embodiment of the present application, as described above, the follow focus motor 120 can be engaged with the follow focus ring of the lens 131 in the photographing device 130, and then the follow focus motor 120 can be determined according to the current position of the follow focus motor 120. The current position of the lens of the photographing device 130 is determined. Wherein, the current position of the follow focus motor 120 can be detected by an angle sensor. Of course, the current lens position of the photographing device can also be determined in other ways, for example, it can be calculated according to the current focusing degree, and the focusing degree can be determined according to a specific focusing method.

The first lens position and the second lens position of the photographing device 130 refer to the possible in-focus positions of the lens of the photographing device 130, that is, when the photographing device 130 is at the first lens position or the second lens position, the shooting target is in the photographing device The 130 shots are expected to be in focus.

In one example, the acquiring the first lens position and the second lens position used to enable the shooting target to be in focus in the shooting picture of the shooting device further includes: responding to an interest input by the user through a user interface interface The region selection instruction obtains the first lens position and the second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the shooting target is included in the region of interest. Optionally, a selection box of the region of interest, such as a box, may also be displayed on the user interface. Alternatively, the photographing device can also automatically determine the region of interest.

Specifically, the first lens position is determined based on the first focusing method, and the second lens position is determined based on the second focusing method, and the first focusing method is different from the second focusing method. Wherein, based on the same or different of the first lens position and the second lens position.

Wherein, since the first focusing method is different from the second focusing method, and the influencing factors of the confidence are different, the first lens position and the second lens position may have different confidences, that is, the first lens position has the first confidence. , the second lens position has a second confidence level.

In this application, the confidence level may be used to characterize the accuracy of the determined lens position, that is, the first confidence level may be used to characterize the determined accuracy of the first lens position, and the second confidence level may be used to characterize the determined accuracy of the first lens position The accuracy of the second lens position.

Specifically, in an embodiment of the present application, the photographing target refers to an object to be photographed and imaged, such as a person, an object, a scene, and the like. The camera body generally marks the position of the focal plane, and the real-time distance between the photographing device 130 and the photographing target can be the distance between the focal plane of the camera body of the photographing device 130 and the photographing target, represented by d, so d is equal to the object distance u and the image distance v can be expressed as:

d=u+v (1)

When the shooting target is in the in-focus state in the shooting picture of the shooting device 130, the image distance and the object distance satisfy the Gaussian imaging formula:

According to formula (1) and formula (2), we can get:

In an embodiment of the present application, the first focusing method is, for example, a three-dimensional time of flight (TOF) focusing method, and determining the position of the first lens based on the first focusing method includes: using the distance sensor 110 Determine the distance d between the shooting target and the shooting device 130; calculate the focus object distance according to the distance d; then calculate the target image distance according to the focus object distance according to formulas (2) and (3), and determine the first lens position according to the target image distance .

In this embodiment, the installation positions of the distance sensor 110 can be various, as long as the real-time distance between the photographing device 130 and the photographing target can be determined according to the sensing data collected by the distance sensor 110 .

In an implementation manner, the distance sensor 110 is detachably provided on the photographing device 130 . For example, the distance sensor 110 may be disposed on the hot shoe of the photographing device 130. In this case, the ranging reference plane of the distance sensor 110 and the focal plane of the lens of the photographing device 130 may be substantially coincident within a certain error range. Of course, the distance measuring reference plane of the distance sensor 110 can also be installed at a fixed distance from the focal plane of the lens of the photographing device 130, as long as the fixed distance is taken into account in subsequent calculations. For example, if the reference plane of the distance sensor 110 is located behind the focal plane of the lens, that is, on the side away from the shooting target, and the distance difference between the reference plane of the distance sensor 110 and the focal plane of the lens is a fixed value L, then the photographing device The real-time distance between 130 and the shooting target is the value M-L obtained by subtracting L from the measured distance M of the distance sensor 110 . This embodiment does not limit this.

In another implementation manner, the photographing device 130 is detachably carried on the bearing seat of the gimbal, and the distance sensor 110 is detachably carried on the bearing seat of the gimbal. In this way, by setting the pan/tilt, both the photographing device 130 and the distance sensor 110 are carried by the pan/tilt. On the one hand, the balance adjustment function of the pan/tilt can be used to ensure the balance of the photographing device 130, and on the other hand, the photographing device 130 and the distance sensor 110 can be ensured. The distance sensor 110 can be set relatively fixedly, so as to realize the accurate calculation of the real-time distance between the above-mentioned photographing device 130 and the photographing target.

Optionally, the shooting target in this embodiment may be selected by the user. In some embodiments, the specific selection method is that the photographing device 130 is detachably carried on the bearing seat of the gimbal, the gimbal is communicatively connected to the photographing device 130, the display device 150 is provided on the hand-held part of the gimbal, and the photographing target is Determined by detecting the user's selection operation on the display device 150 that displays the captured image of the photographing device 130 , for example, by detecting the user's clicking and selecting operation on an area of interest in the live view screen displayed by the display device of the photographing device to obtain the selection instruction .

In one example, since there is a certain distance on the physical equipment between the ranging sensor and the sensor of the photographing device, the acquired pixel coordinates of the region of interest (for example, the photographing target) can also be passed through a predetermined position. The key to conversion is to convert the location information of the region of interest in the coordinate system of the shooting device into the location information in the TOF coordinate system, and then control the ranging area of the distance sensor to achieve ranging.

In some embodiments, the distance sensor 110 includes a transmitting device for transmitting optical signals and a receiving device for receiving optical signals reflected by the photographing target. Correspondingly, the distance between the photographing device 130 and the photographing target is obtained according to the sensing data collected by the distance sensor 110 . The real-time distance includes: determining the distance between the shooting target and the shooting device 130 according to the light signal received by the receiving device.

In some embodiments, the distance sensor 110 may further include a transmitting device for emitting optical signals and a receiving device for receiving optical signals emitted by the photographing target. Correspondingly, the photographing device 130 and the photographing target are acquired according to the sensing data collected by the distance sensor 110 . The real-time distance between them includes: determining the distance between the photographing target and the photographing device 130 according to the acoustic signal received by the receiving device.

In this embodiment, the distance sensor 110 can be a single-point ranging sensor or a 3D ranging sensor, and the distance sensor 110 can be a TOF (Time Of Flight, time-of-flight) ranging sensor. This embodiment does not limit this.

In the first focusing method, the focus or follow focus of the lens generally keeps the position of the shooting target and the position of the focal plane of the camera body of the shooting device 130 unchanged. The thread converts the rotation angle of rotation into the forward and backward translation distance of the lens group of the lens, which is equivalent to driving the lens manually or with the follow focus motor 120 under the condition that the real-time distance between the shooting device 130 and the shooting target remains unchanged. Rotate to adjust the object distance u and image distance v so that the shooting screen is in focus. In the first focusing method, the effect will not be affected in low light or low contrast environments. In addition, because there is no CMOS with phase sensor or CMOS with phase ranging (more pixels, better focusing performance, but the image quality will be worse), so for the image sensor, there is no loss of image quality, and it has better performance. high definition.

The first confidence level is positively correlated with the signal-to-noise ratio of the collected data of the distance sensor 110, that is, the smaller the distortion caused by the noise of the distance sensor 110, the greater the reflected light intensity of the distance sensor 110, and the higher the signal-to-noise ratio of the distance sensor 110. The higher the first confidence level, the higher the first confidence level.

The second focusing method is an ambiguity-based focusing method, and the method uses a point spread function (PSF) to focus, and the point spread function (PSF) is a function describing the ability of an optical system to resolve a point source. Because the point source will form an enlarged image point due to diffraction after passing through any optical system, the image information can be extracted more accurately by measuring the point spread function of the system.

The blur-based focusing method is to calculate the focusing curve according to different images captured at different focusing positions and their respective blur degrees (for example, represented by PSF), and then obtain the focusing positions.

As can be seen from the following formula, in the case where PSF1 is equal to PSF1(d) and PSF2 is equal to PSF2(d), picture1 convolving PSF2(d) is equal to picture2 convolving PSF1(d).

Among them, Picture0 is the ideal picture in the in-focus state, Picture1 is the image captured at the first position, PSF1 is the first blur of the lens when the target is captured at the first position, and Picture2 is captured at the second position. , PSF2 is the second blur degree of the lens when shooting the target at the second position, PSF1 (d) and PSF2 (d) are the blur degrees calibrated to the lens of the shooting device 130 on the focusing stroke, that is, the PSF database ambiguity in . During the focusing process, two adjacent images, Picture1 and Picture2, are calculated, and all PSFs in the database are traversed to find PSF1(d) and PSF2(d) that satisfy the formula, and then PSF1(d) and PSF2(d) are determined. ) corresponding to the curve used for focusing, you can find the focusing point, as shown in Figure 2.

In an embodiment of the present application, as shown in FIG. 2 , in the second focusing method, the shooting position of the shooting device 130 is calibrated on the focusing stroke, and different shooting positions correspond to different image blur degrees. Therefore, when focusing, the shooting device 130 can be controlled to shoot the shooting target at the first position and the second position respectively, and the first position is different from the second position; and the first position of the lens when shooting the shooting target at the first position can be obtained. a blur degree, and the second blur degree of the lens when the shooting target is photographed at the second position; then, the second lens position is determined according to the acquired first blur degree and the second blur degree.

In an embodiment of the present application, determining the second lens position according to the first blurriness degree and the second blurriness degree includes: determining a curve for focusing according to the first blurriness degree and the second blurriness degree; then determining the second lens position according to the curve lens position. The position corresponding to the vertex in the curve is the position of the second lens.

Wherein, the first ambiguity and the second ambiguity can be obtained by using the content corresponding to the above formula, and the method for determining the curve used for focusing according to the ambiguity can refer to the prior art, which will not be repeated here.

It should be noted that, in this application, in addition to determining the target lens position through a curve, the second lens position can also be obtained by obtaining a focusing data table and looking up the table, and the above focusing method is only exemplary.

The second focusing method has a second confidence level, and the second confidence level is positively correlated with the curvature of the curve, that is, the larger the curvature of the focusing curve, the smaller the opening degree, the higher the second confidence level, on the contrary, the smaller the curvature of the focusing curve is. , the greater the degree of opening, the lower the second confidence.

In step S202 of the present application, the determining the focusing mode based on the preset rule includes: acquiring a first confidence level of the first lens position and a second confidence level of the second lens position; The confidence level and the threshold range to which the second confidence level with a higher confidence level belongs is used to determine the focusing mode.

In this application, since the first focusing method and the second focusing method are different methods and are based on the results of two different device outputs, it is necessary to align the values in physical sense. The threshold range to which the higher confidence level of the confidence level and the second confidence level belong, and determining the focusing mode includes: normalizing the first confidence level and the second confidence level; The first confidence level after the normalization process and the threshold range to which the second confidence level after the normalization process has a higher confidence level belong to, determine the focusing mode, and use the normalization process to be used for Under the same unit measure, the first confidence level and the second confidence level are compared to determine the higher confidence level of the first shot position and the second shot position.

The first confidence level and the second confidence level may be normalized by any suitable method. For example, the first confidence level and the second confidence level are calibrated first, and the , when the ground truth is known, test the first lens position and the first confidence of the first focusing method, and the second lens position and second confidence of the second focusing method, so that the confidences are aligned, to compare.

In an example, the determining the focusing mode based on a threshold range to which a higher confidence level of the first confidence level and the second confidence level belongs, further comprising: comparing the first confidence level and the second confidence level The second confidence level is normalized; according to the shooting scene of the shooting device, the first weight of the first confidence level and the second weight of the second confidence level are determined; The weight determines the final first confidence level, and the final second confidence level is determined by the normalized second confidence level and the second weight, based on the final first confidence level and the final second confidence level. The threshold range that the higher one belongs to determines the focusing method. The first weight of the first confidence level and the second weight of the second confidence level are determined according to the shooting scene of the shooting device. For example, when the first focusing method is a 3D TOF focusing method and the shooting scene is a dark environment, then The first weight assigned to the first confidence level is greater than the second weight assigned to the second confidence level. For another example, when the shooting distance between the shooting target and the shooting device is less than or equal to the threshold distance, for example, the shooting distance is less than or equal to 1.5m , for example, between 0.5m and 1.5m, and further, when it is less than or equal to 1m, for example, when the shooting distance is approximately 1m, the first weight assigned to the first confidence level is smaller than the second weight assigned to the second confidence level . The final first confidence degree is determined by the normalized first confidence degree and the first weight, and the final second confidence degree is determined by the normalized second confidence degree and the second weight, and then the final The first confidence level is compared with the final second confidence level, and the higher confidence level of the two is determined, and then the threshold range to which the higher confidence level belongs, and the focusing mode is determined.

During the focusing process, each frame of image information will correspondingly output a first lens position and a first confidence level and a second lens position and a second confidence level, so as to determine which focusing method to focus on.

Exemplarily, the focusing mode is determined based on a threshold range to which the first confidence level and the second confidence level with a higher confidence level belong, where the threshold range can be reasonably set according to actual needs, for example, The threshold range may include a first threshold range, a second threshold range, a third threshold range, and a fourth threshold range, wherein the first threshold range is greater than the second threshold range, the second threshold range is greater than the third threshold range, and the third threshold range greater than the fourth threshold range, for example, the first threshold range is greater than 90%, the second threshold range is less than or equal to 90% and greater than 70%, the third threshold range is less than or equal to 70% and greater than or equal to 50%, the The fourth threshold range is less than 50%.

In an example, when the person with the higher confidence level is within the first threshold range, focusing on the photographing device based on the first lens position or the second lens position corresponding to the person with the higher confidence degree, including: When the state machine is triggered to switch from the current state to the target state in response to the higher confidence being within the range of the first threshold, the first lens position or the second lens position corresponding to the higher confidence The photographing device focuses, optionally, the current state includes a first state, a second state or a third state, wherein the first state is before the second state, and the second state is before the second state before the third state. Since the position within the first threshold value indicates that the position of the first lens position or the second lens position corresponding to the one with higher confidence is relatively accurate, the position of the first lens or the second lens corresponding to the one with higher confidence is directly used. By focusing, the lens of the shooting device can be in focus, so that the focusing can be achieved quickly and accurately.

In this application, the state machine in the focusing process may include multiple states, such as a first state, a second state, a third state, a fourth state, and a target state. The first state precedes the second state, and the second state Before the third state, the third state is before the fourth state, and the fourth state is before the target state. Specifically, for example, as shown in FIG. 4 , the first state may be the initialization of the preparation phase (AF prepare init), the preparation phase (AF prepare main), the second state is, for example, the initialization of the coarse search stage (AF coarse init), the operation of the coarse search stage (AF coarse main), and the third state is, for example, the initialization of the fine search stage (AF fine init) . The fourth state is, for example, the operation of the fine search phase (AF fine main) and the final focus (GoToPeak). The above-mentioned division manner of the state machine is only an example, and other suitable state machines can also be applied to the present application.

In an example, determining the focusing mode based on a threshold range where the higher one of the first confidence level and the second confidence level is located includes: when the higher confidence level is within a second threshold range When inside, first control the lens of the shooting device to move to the first lens position or the second lens position corresponding to the one with the higher confidence, and then perform the shooting of the shooting device based on the third lens position determined by the third focusing method. Focus. For example, when the state machine is triggered to switch from the current state to the third state (such as the initialization of the fine search stage) in response to the higher confidence being within the second threshold range, first control the lens of the photographing device to move to The first lens position or the second lens position corresponding to the one with a higher degree of confidence, and then focus on the shooting device based on the third lens position determined by the third focusing method, and the current state includes the first state (for example, ready to use). initialization of a stage) or a second state (eg, initialization of a coarse search stage), wherein the first state precedes the second state and the second state precedes the third state. By first controlling the lens of the photographing device to move to the first lens position or the second lens position corresponding to the one with the higher confidence, the lens position can be made close to the in-focus position, and then the third focusing method is used for fine adjustment, so as to be faster And accurately determine the position of the third lens that matches the in-focus position, so as to achieve fast and accurate focusing.

In the present application, determining the position of the third lens based on the third focusing method includes: driving the lens to move at least two positions along a first direction and/or a second direction, wherein the first direction and the first direction The two directions are opposite directions; the image data information obtained by the lens at each position is acquired; the third lens position is determined based on the clarity of each image data information, wherein the third lens position is used to enable the shooting target to be able to In focus on the shooting screen of the shooting device. Exemplarily, the determining the third lens position based on the sharpness of each image data information includes: determining a first curve for focusing based on the sharpness of each image data information; determining the first curve based on the first curve. Three lens positions. The third lens position is the lens position corresponding to the image data information with the highest definition in each image data information, that is, the lens position corresponding to the vertex of the first curve. Optionally, the first direction and the second direction are parallel to the optical axis of the lens of the photographing device, or the first direction and the second direction and the optical axis of the lens of the photographing device coincide. Among them, the third focusing method can be adapted to a variety of application scenarios and has high focusing accuracy.

Optionally, acquiring the image data information obtained by the lens at each position includes digitizing the image data information obtained at each position, wherein the digitized image data information may be an integer matrix, and then, based on the digitized image data information Calculate and obtain the sharpness of each image data information, in which the contrast amount (such as contrast or gradient) of each image data information can be calculated and obtained, and the sharpness of each image data information can be characterized based on the contrast amount, and the curve can be used to filter out the highest sharpness ( That is, the image data information with the largest amount of contrast) can also be compared for the sharpness of each image data information to screen out the image data information with the highest definition (that is, the largest amount of contrast), and then determine the position of the third lens to obtain the correct focus. position, thereby finally driving the lens to move from the current lens position to the third lens position. In an example, it may also be determined whether the lens is in focus, that is, whether the focus is completed, according to the value with the largest contrast amount. During the focusing process of the third focusing method, when it is reflected on the user interaction interface, it is a process of "pulling the bellows" from blurred to clear to blurred and finally clear. This judgment can obtain very high focusing accuracy, and the same is true in actual use. The third focusing method is called Contrast Detection Auto Focus (CDAF).

In an example, the determining the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located includes: when the higher confidence level is in a When the state machine is triggered to switch from the first state to the second state within the third threshold range, the moving direction of the lens is first determined based on the first lens position or the second lens position corresponding to the higher confidence level, and then based on the third The third lens position determined by the focusing method focuses the photographing device, and the third focusing method moves the lens of the photographing device according to the moving direction, and the moving direction includes the first direction or the second direction, wherein the The first direction and the second direction are opposite directions, and the first state is located before the second state. Although the position of the first lens or the position of the second lens corresponding to the one with a higher degree of confidence cannot give the in-focus position of the lens very accurately, it can generally indicate the position range of the in-focus position, so the moving direction can be determined, The moving direction is also the direction of driving the lens to move from the current position to the first lens position or the second lens position corresponding to the one with higher confidence. The moving direction can assist the third focusing method to quickly and accurately determine the third lens position. This enables fast and accurate focusing.

Exemplarily, the moving direction includes a first direction or a second direction, wherein the first direction and the second direction are opposite directions, and the first direction and the second direction are parallel to the photographing device. The optical axis of the lens, or the first direction and the second direction coincide with the optical axis of the lens of the photographing device.

In another example, the determining the focusing mode based on the threshold range in which the higher one of the first confidence level and the second confidence level is located includes: when the higher confidence level is in the first When within the second threshold range or within the third threshold range or within the fourth threshold range, focus on the photographing device based on the third lens position determined by the third focusing method, wherein the second threshold range is greater than the third threshold range A threshold range, the third threshold range is greater than the fourth threshold range. When the person with higher confidence is within the second threshold range, the third threshold range or the fourth threshold range, it indicates that the position of the first lens or the position of the second lens corresponding to the person with higher confidence cannot be accurately realized Therefore, at this time, the third focusing method can be used for focusing, wherein the third focusing method can realize fine adjustment of the focusing position, and is stable, and can locate any suitable third lens position in a static scene.

In one example, when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the photographing device is subjected to the third lens position determined based on the third focusing method. Focusing, including: when the state machine is triggered to switch from the first state to the fourth state in response to the higher confidence being within the fourth threshold range, the third lens position determined based on the third focusing method for the The photographing device performs focusing, and the fourth state is subsequent to the first state. The first state is, for example, the initialization of the preparation stage, and the fourth state is, for example, the operation of the fine search stage (AF fine main).

In another example, when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the photographing device is determined based on the third lens position determined by the third focusing method. Focusing includes: when the state machine is triggered to switch from the second state to the fourth state in response to the higher confidence being within the third threshold range or the fourth threshold range, focusing based on the third The third lens position determined by the method focuses the photographing device, and the fourth state is subsequent to the second state. The second state is, for example, the initialization of the rough search stage, and the fourth state is, for example, the operation of the fine search stage (AF fine main).

In other examples, when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the photographing device is subjected to the third lens position determined based on the third focusing method. Focusing, comprising: triggering a state machine to switch from a third state to a fourth state in response to the higher confidence being within the second threshold range or within the third threshold range or within the fourth threshold range In the state, the photographing device is focused based on the third lens position determined by the third focusing method, and the fourth state is subsequent to the third state. The third state is, for example, the initialization of the fine search stage, and the fourth state is, for example, the operation of the fine search stage.

In a specific example, as shown in FIG. 4 , when the person with higher confidence is in the first threshold range, for example, greater than 90%, it is marked as OK++, and when the person with higher confidence is in the second threshold range, for example, in the range of 70% to 90 %, mark as OK+, when the higher confidence is in the third threshold range, such as between 50% and 70%, mark as OK, when the confidence is higher in the third threshold range, such as less than 50% , marked as NG.

As shown in FIG. 4 , the output results of the first focusing method, such as the first lens position and the first confidence level, and the output results of the second focusing method, such as the second lens position and the second confidence level, are subjected to the normalization described above. And after processing such as giving weights, compare to obtain the higher confidence, and input the value corresponding to the higher confidence into the initialization phase of the state machine's preparation phase, the initialization of the rough search phase, and the initialization of the fine search phase to determine Which of the first focusing method, the second focusing method and the third focusing method is used for focusing.

Continue as shown in Figure 4, when the initialization stage of the preparation stage judges that the one with higher confidence (conf) is OK++, then jump to the final focus (GoToPeak), and directly use the first lens position corresponding to the one with higher confidence (such as the output of 3D TOF) or the second lens position (such as the output of BDAF) to complete the focus; when the initialization stage of the preparation stage judges that the one with higher confidence (conf) is OK+, it jumps to the initialization stage of the fine search stage, Move the lens to the vicinity of the first lens position or the second lens position corresponding to the one with higher confidence, and then use the third focusing method to perform fine-tuning search to obtain the third lens position (that is, the in-focus position), thus based on The focus of the third lens position is completed; when the initialization stage of the preparation stage judges that the one with higher confidence (conf) is OK, then jump to the initialization stage of the rough search stage, and firstly use the first lens position corresponding to the one with higher confidence or The second lens position judges the moving direction when the third focusing method finds the third lens position. On the premise that the moving direction is known, use the third focusing method to fine-tune the search to obtain the third lens position (that is, the focus is achieved). position), so as to complete focusing based on the position of the third lens; when the initialization stage of the preparation stage determines that the one with higher confidence (conf) is NG, it jumps to the initialization stage of the fine search stage, and firstly uses the third focusing method to determine the third The lens position (that is, the in-focus position), so that focusing is completed based on the third lens position.

Continue as shown in Figure 4, when the initialization stage of the rough search stage judges that the one with higher confidence (conf) is OK++, then jump to the final focus (GoToPeak), and directly use the first shot corresponding to the one with higher confidence The position (such as the output of 3D TOF) or the second lens position (such as the output of BDAF) completes the focus; when the initialization stage of the coarse search stage judges that the one with higher confidence (conf) is OK+, it jumps to the initialization of the fine search stage In the first stage, move the lens to the vicinity of the first lens position or the second lens position corresponding to the one with higher confidence, and then use the third focusing method to fine-tune the search to obtain the third lens position (that is, the in-focus position), Thus, focusing is completed based on the position of the third lens; when the initialization stage of the preparation stage determines that the one with higher confidence (conf) is OK or NG, it jumps to the initialization stage of the fine search stage, and firstly uses the third focusing method to determine the third lens position (ie, in-focus position), so that focusing is completed based on the third lens position.

Continue as shown in Figure 4, when the initialization stage of the fine search stage judges that the one with higher confidence (conf) is OK++, then jump to the final focus (GoToPeak), and directly use the first shot corresponding to the one with higher confidence The position (such as the output of 3D TOF) or the second lens position (such as the output of BDAF) completes the focus; when the initialization stage of the preparation stage judges that the one with higher confidence (conf) is OK+ or OK or NG, it jumps to fine search In the initialization phase of the stage, the third focusing method is used first to determine the third lens position (ie, the focus position), so as to complete focusing based on the third lens position.

In this application, the focusing methods include a first focusing method, a second focusing method and a third focusing method, and the three focusing methods have their own advantages. Accuracy, for example, using the first focusing method of the distance sensor 110 to determine that the position of the first lens has sufficient resolution and accuracy to meet the distance measurement within a certain distance, so within the specifications of the first focusing method, it can meet the requirements of focusing assistance, and The first focusing method has good applicability in low-light or low-contrast environments, and does not affect the quality of the captured image. In cases outside the specifications of the first focusing method, a second focusing method is required to estimate the in-focus position and improve the effect of AF assist.

For example, the maximum ranging range in the first focusing method will not exceed 10 meters, but some lenses need to meet the auto focus of more than 10 meters; the general first focusing method determines the accuracy of the position of the first lens is about 5%, but some lenses At closer distances, the accuracy requirements are very high, perhaps around 1%. Therefore, in the case where the first focusing method cannot satisfy the in-focus estimation, the second focusing method can be used to estimate the in-focus position, and in a static situation, for a high-contrast scene, the accuracy of the second focusing method in determining the position of the second lens is [-1Fδ, 1Fδ], in a low-contrast scene, the accuracy of the second focusing method for determining the position of the second lens is [-2Fδ, 2Fδ], where the Fδ is the size of the speckle, which can meet the requirements of manual focus assistance. However, for a sports scene, especially during vigorous exercise, the accuracy of determining the position of the second lens by the second focusing method will decrease accordingly. In this case, focusing can be performed by the first focusing method. Among them, a high-contrast scene means that the subject and the ambient background have a large contrast and/or have good lighting conditions, for example, the shooting background is black, and the shooting target is white, and/or has good lighting, which is high contrast. On the contrary, if the color of the subject and the background are similar, and the lighting conditions are poor, it is a low-contrast scene.

It should be noted that the relationship between the accuracy of determining the position of the first lens by the first focusing method and the accuracy of determining the position of the second lens by the second focusing method and the application scene can be finally reflected in the confidence described above. Therefore, The target lens position selected based on the confidence level can be better used for focusing in different dynamic and static, different contrast, and different distance application scenarios.

When the first lens position or the second lens position corresponding to the one with higher confidence satisfies the preset rule, it can be directly used for focusing, so that the focusing speed and accuracy can be improved, and when the first focusing method and the second focusing method are used When the focusing methods cannot meet the focusing requirements, the third focusing method can be used to determine the position of the third lens and then complete the focusing. The third focusing method can be finely adjusted, has good stability and high accuracy, and is suitable for most Still scene, applicable to a wider range.

As can be seen from the above, the present application combines the advantages of the first focusing method, the second focusing method and the third focusing method to assist the automatic focusing, improve its accuracy, and assist the fast focusing. The focusing method of the present application does not depend on the performance of the image sensor, and can realize the fast focusing of the photographing device, and has a wider application range, and the focusing method of the present application does not need to use PD pixels, so for the image sensor, the quality of the captured image It will not be affected in the slightest. In addition, a suitable focusing method can be selected for focusing according to preset rules, which improves the accuracy and effect of the focusing method.

A second aspect of the embodiments of the present application provides a photographing device for executing the foregoing focusing method.

In one embodiment, as shown in FIG. 5 , the photographing device 500 of this embodiment may include: at least one processor 501 and a memory 502 . The processor 501 and the memory 502 are connected through a bus 503 .

In a specific implementation process, the memory 502 stores the computer-executed instructions, and at least one processor 501 executes the computer-executed instructions stored in the memory 502, so that the following steps are implemented when executing the computer-executed instructions: acquiring a shooting screen for enabling the shooting target to be captured by the shooting device The first lens position and the second lens position in the in-focus state, wherein the first lens position is based on the first focusing method; the focusing method is determined based on a preset rule, and the focusing method is determined based on the determined focusing method. focusing on the photographing device, wherein the focusing method includes any one of the following methods: focusing the photographing device based on one of the first lens position and the second lens position, or focusing on the photographing device based on the first lens position and the second lens position. One of the first lens position, the second lens position, and the third lens position determined by a third focusing method focuses the photographing device, wherein the third focusing method is different from the first focusing method and the second focusing method.

a memory that stores computer-executed instructions;

At least one processor, the at least one processor executes the computer-executable instructions stored in the memory, so that the following steps are implemented when the computer-executable instructions are executed:

In an example, the processor 501 is configured to determine the focusing mode based on the preset rule, including: acquiring a first confidence level of the first lens position and a second confidence level of the second lens position; based on the The focusing mode is determined by the threshold range to which the higher confidence level of the first confidence level and the second confidence level belongs.

In an example, the processor 501 is configured to determine the focusing mode based on a threshold range where the higher of the first confidence level and the second confidence level is located, including: when the confidence level is higher than When the higher one is within the first threshold range, the photographing device is focused based on the first lens position or the second lens position corresponding to the higher confidence value.

In an example, when the person with the higher confidence level is within the first threshold range, focusing on the photographing device based on the first lens position or the second lens position corresponding to the person with the higher confidence degree, including: When the state machine is triggered to switch from the current state to the target state in response to the higher confidence being within the range of the first threshold, the first lens position or the second lens position corresponding to the higher confidence Focus on the camera described above. Optionally, the current state includes a first state, a second state or a third state, wherein the first state precedes the second state and the second state precedes the third state.

In an example, the processor 501 is configured to determine the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located, including: when the higher confidence level is When it is within the second threshold range, first control the lens of the shooting device to move to the first lens position or the second lens position corresponding to the one with the higher confidence, and then adjust the third lens position determined based on the third focusing method. The photographing device focuses.

In one example, the processor 501 is configured to determine the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located, including: when in response to a higher confidence level When the higher one is within the second threshold range and the state machine is triggered to switch from the current state to the third state, first control the lens of the shooting device to move to the first lens position or the second lens position corresponding to the higher confidence value , and then focus the photographing device based on the third lens position determined by the third focusing method, the current state includes a first state or a second state, wherein the first state is before the second state, and the The second state precedes the third state.

In one example, the processor 501 is configured to determine the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located, including: when in response to a higher confidence level When the higher one is within the third threshold range and the state machine is triggered to switch from the first state to the second state, first determine the moving direction of the lens based on the first lens position or the second lens position corresponding to the higher confidence value, and then The photographing device is focused based on the third lens position determined by a third focusing method, and the third focusing method moves the lens of the photographing device according to the moving direction, and the moving direction includes the first direction or the second direction , wherein the first direction and the second direction are opposite directions, and the first state is located before the second state.

In an example, the processor 501 is configured to determine the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located, including: when the higher confidence level is When within the second threshold range or the third threshold range or the fourth threshold range, focus the photographing device based on the third lens position determined by the third focusing method, wherein the second threshold range is greater than the A third threshold range, the third threshold range is greater than the fourth threshold range.

In one example, the processor 501 is configured to pair the third lens position determined based on the third focusing method when the one with higher confidence is within the second threshold range, the third threshold range or the fourth threshold range. Focusing by the photographing device includes: when the state machine is triggered to switch from the first state to the fourth state in response to the higher confidence level being within the fourth threshold range, determining the first state based on the third focusing method. Three lens positions focus the photographing device, and the fourth state follows the first state.

In one example, the processor 501 is configured to pair the third lens position determined based on the third focusing method when the one with higher confidence is within the second threshold range, the third threshold range or the fourth threshold range. The photographing device focusing includes: when the state machine is triggered to switch from the second state to the fourth state in response to the higher confidence being within the third threshold range or the fourth threshold range, The photographing device is focused based on a third lens position determined by a third focusing method, and the fourth state is subsequent to the second state.

In one example, the processor 501 is configured to pair the third lens position determined based on the third focusing method when the one with higher confidence is within the second threshold range, the third threshold range or the fourth threshold range. Focusing by the photographing device includes: triggering a state machine from the third threshold in response to the higher confidence being within the second threshold range or within the third threshold range or within the fourth threshold range When the state is switched to a fourth state, the photographing device is focused based on the third lens position determined by the third focusing method, and the fourth state is subsequent to the third state.

In this application, the first state includes the initialization of the preparation phase, the second state includes the initialization of the coarse search phase, the third state includes the initialization of the fine search phase, and the fourth state includes the initialization of the fine search phase. run.

In this application, the first threshold range is greater than 90% and less than or equal to 100%; the second threshold range is less than or equal to 90% and greater than 70%; the third threshold range is less than or equal to 70% , and greater than or equal to 50%; the fourth threshold range is less than 50%.

In an example, the processor 501 is configured to determine the focusing mode based on a threshold range to which the first confidence level and the second confidence level with a higher confidence level belong, including: determining the first confidence level Perform normalization processing with the second confidence level; based on the first confidence level after the normalization process and the threshold range to which the second confidence level after the normalization process has a higher confidence level to determine the focusing method.

In one example, the processor 501 is configured to determine the third lens position based on the third focusing method, comprising: driving the lens to move at least two positions along a first direction and/or a second direction, wherein the first direction and the The second direction is the opposite direction; the image data information obtained by the lens at each position is acquired; the third lens position is determined based on the clarity of each image data information, wherein the third lens position is used to make The shooting target can be in focus in the shooting screen of the shooting device.

In an example, the processor 501 is configured to determine the third lens position based on the sharpness of each image data information, including: determining a first curve for focusing based on the sharpness of each image data information; based on the first curve The third lens position is determined. Optionally, the third lens position includes a lens position corresponding to the image data information with the highest definition in each image data information.

In one example, the first direction and the second direction are parallel to the optical axis of the lens of the photographing device, or the first direction and the second direction and the light of the lens of the photographing device Axes coincide.

In an example, the processor 501 is configured to determine the first lens position based on the first focusing method, including: determining distance data between the shooting target and the shooting device through a distance sensor; according to the distance The focal object distance is calculated from the data; the target image distance is calculated according to the focal object distance, and the first lens position is determined according to the target image distance. Optionally, the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.

In one example, the processor 501 is configured to determine the second lens position based on the second focusing method, including: controlling the shooting device to shoot the shooting target at the first position and the second position, respectively, where the first position is different from the second position; when the shooting target is shot at the first position, the first blur degree of the lens of the shooting device is obtained; the shooting is performed at the second position When the target is photographed, a second blur degree of the lens of the photographing device is acquired; the second lens position is determined according to the first blur degree and the second blur degree.

In an example, the processor 501 is configured to determine the second lens position according to the first blurriness and the second blurriness, including: The second curve for focusing; the position of the second lens is determined according to the second curve. Optionally, the second confidence level is positively related to the curvature of the curve.

In one example, the processor 501 is configured to acquire the first lens position and the second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, and further includes: responding to user input through the user interaction interface The selection instruction of the region of interest, obtains the first lens position and the second lens position for enabling the shooting target to be in the in-focus state in the shooting screen of the shooting device, wherein the region of interest includes the shooting target. .

In one example, a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to move, so that the photographing device is adjusted from the current lens position to the first A lens position or the second lens position or the third lens position. Optionally, the photographing device and the follow focus motor are carried on the gimbal.

In an example, the photographing device further includes a display device, the photographing device is connected in communication with the pan/tilt, wherein: the display device is provided on the hand-held part of the pan/tilt; or the display device is detachable The display device is arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.

In one example, the follow focus motor is connected in communication with the pan/tilt, an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operating member is used to receive the user's response to the follow focus. Control commands for the focuser motor.

In one example, the display device is a user interface of the photographing device, or the display device is connected in communication with the photographing device.

The specific details will not be repeated in this embodiment, and reference may be made to the foregoing focusing method and the foregoing related content of the photographing system.

A third aspect of the embodiments of the present application provides a shooting system, where the shooting system includes a pan/tilt and the aforementioned shooting device; the pan/tilt is used to carry the shooting device. For the description of the specific shooting system, reference may be made to the related content in the foregoing, which will not be repeated here.

The pan/tilt in this embodiment can be used to implement the technical solutions of the above focusing method embodiments of the present application, and the implementation principles and technical effects thereof are similar, and will not be repeated here.

It should be noted that, the technical solutions of the above-mentioned focusing method embodiments of the present application can also be implemented by combining devices. For example, some steps of the focusing method provided in the method embodiments may be performed by a pan/tilt head, and another part of the steps may be performed by a follow focus motor or manually by a user. This embodiment of the present application does not limit this.

A fourth aspect of the present application also provides a computer storage medium on which a computer program is stored. One or more computer program instructions may be stored on the computer-readable storage medium, and the computer program contains at least one piece of code, and at least one piece of code can be executed by the computer to control the computer to perform the aforementioned focusing method.

Embodiments of the present application further provide a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, part or all of the steps of the focusing method of the first aspect may be included. The above-mentioned readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

An exemplary readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium may be located in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). Of course, the processor and the readable storage medium may also exist in the device as discrete components.

When the computer program runs, the functions in the embodiments of the present application (implemented by the processor) and/or other desired functions can be realized, for example, to execute the corresponding steps of the focusing method according to the embodiments of the present application, and stored in a computer-readable storage Various application programs and various data, such as various data used and/or generated by the application program, can also be stored in the medium.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the application thereto. Various changes and modifications can be made therein by those of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, FIG. , or in its description. However, this method of application should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a program of apparatus (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above are only specific embodiments of the present application or descriptions of the specific embodiments, and the protection scope of the present application is not limited thereto. Any changes or substitutions should be included within the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A focusing method, characterized in that the method comprises:

Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

A focusing mode is determined based on a preset rule, and the photographing device is focused based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on the first lens position and the One of the second lens positions focuses the photographing device, or the photographing device is focused on the photographing device based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method focusing, wherein the third focusing method is different from the first focusing method and the second focusing method.
The focusing method according to claim 1, wherein determining the focusing mode based on a preset rule comprises:

obtaining a first confidence level of the first lens position and a second confidence level of the second lens position;

The focusing mode is determined based on a threshold range to which a higher confidence level of the first confidence level and the second confidence level belongs.
The focusing method according to claim 2, wherein the determining the focusing method based on the threshold range where the higher of the first confidence level and the second confidence level is located, comprises:

When the higher confidence level is within the first threshold range, the photographing device is focused based on the first lens position or the second lens position corresponding to the higher confidence level.
3. The focusing method according to claim 3, wherein when the higher confidence level is within a first threshold range, a pair of first lens positions or second lens positions corresponding to the higher confidence level is paired The photographing device performs focusing, including:

When the state machine is triggered to switch from the current state to the target state in response to the higher confidence being within the range of the first threshold, the first lens position or the second lens position corresponding to the higher confidence Focus on the camera described above.
The focusing method according to claim 4, wherein the current state comprises a first state, a second state or a third state, wherein the first state is before the second state, and the second state is before the second state. The state precedes the third state.
The focusing method of claim 3, wherein the first threshold range is greater than 90% and less than or equal to 100%.
The focusing method according to claim 2, wherein, determining the focusing mode based on the threshold range where the higher of the first confidence level and the second confidence level is located, comprising:

When the higher confidence level is within the second threshold range, first control the lens of the photographing device to move to the first lens position or the second lens position corresponding to the higher confidence level, and then focus on the third The third lens position determined by the method focuses the photographing device.
The focusing method according to claim 7, wherein the determining the focusing method based on the threshold range where the higher of the first confidence level and the second confidence level is located, comprises:

When the state machine is triggered to switch from the current state to the third state in response to the higher confidence being within the second threshold range, firstly control the lens of the photographing device to move to the first corresponding to the higher confidence a lens position or a second lens position, and then focus the photographing device based on the third lens position determined by the third focusing method, the current state includes a first state or a second state, wherein the first state is at The second state precedes the third state.
The focusing method according to claim 2, wherein the determining the focusing method based on the threshold range where the higher of the first confidence level and the second confidence level is located, comprises:

When the state machine is triggered to switch from the first state to the second state in response to the higher confidence being within the third threshold range, firstly based on the first shot position or the second shot corresponding to the higher confidence The position determines the moving direction of the lens, and then focuses the shooting device based on the position of the third lens determined by the third focusing method, and the third focusing method moves the lens of the shooting device according to the moving direction. Including a first direction or a second direction, wherein the first direction and the second direction are opposite directions, and the first state precedes the second state.
The focusing method according to claim 2, wherein the determining the focusing method based on the threshold range where the higher of the first confidence level and the second confidence level is located, comprises:

When the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, focus the photographing device based on the third lens position determined by the third focusing method, wherein the The second threshold range is greater than the third threshold range, and the third threshold range is greater than the fourth threshold range.
11. The focusing method according to claim 10, wherein, when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the first state to the fourth state in response to the higher confidence level being within the fourth threshold range, the photographing device is subjected to the third lens position determined based on the third focusing method In focus, the fourth state follows the first state.
11. The focusing method according to claim 11, wherein when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the second state to the fourth state in response to the higher confidence being within the third threshold range or the fourth threshold range, the third focus determined based on the third focusing method The lens position focuses the photographing device, and the fourth state follows the second state.
11. The focusing method according to claim 11, wherein when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the third state to the fourth state in response to the higher confidence being within the second threshold range or the third threshold range or the fourth threshold range, based on The third lens position determined by the third focusing method focuses the photographing device, and the fourth state is subsequent to the third state.
The focusing method according to claim 5, 8 or 9, wherein the first state includes initialization of a preparation stage, and the second state includes initialization of a rough search stage.
The focusing method according to claim 5 or 8, wherein the third state includes initialization of a fine search phase.
The focusing method according to any one of claims 11 to 13, wherein the fourth state includes the operation of a fine search phase.
The focusing method according to any one of claims 7 to 13, wherein the second threshold range is less than or equal to 90% and greater than 70%.
The focusing method according to any one of claims 9 to 13, wherein the third threshold range is less than or equal to 70% and greater than or equal to 50%.
The focusing method according to any one of claims 10 to 13, wherein the fourth threshold range is less than 50%.
The focusing method according to any one of claims 2 to 19, wherein the focusing is determined based on a threshold range to which a higher confidence level of the first confidence level and the second confidence level belongs. ways, including:

normalizing the first confidence level and the second confidence level;

The focusing mode is determined based on the normalized first confidence level and the threshold range to which the second confidence level after the normalization process belongs to a higher confidence level.
The focusing method according to any one of claims 1 to 20, wherein determining the third lens position based on the third focusing method comprises:

driving the lens to move at least two positions along a first direction and/or a second direction, wherein the first direction and the second direction are opposite directions;

obtaining image data information obtained by the lens at various positions;

Based on the clarity of each image data information, a third lens position is determined, wherein the third lens position is used to enable the shooting target to be in focus in the shooting picture of the shooting device.
The focusing method according to claim 21, wherein the determining the position of the third lens based on the clarity of each image data information comprises:

determining a first curve for focusing based on the sharpness of each image data information;

The third lens position is determined based on the first curve.
21. The focusing method according to claim 21, wherein the third lens position comprises a lens position corresponding to the image data information with the highest definition in each image data information.
The focusing method according to claim 21, wherein the first direction and the second direction are parallel to the optical axis of the lens of the photographing device, or the first direction and the second direction It is coincident with the optical axis of the lens of the photographing device.
The focusing method of claim 1, wherein determining the first lens position based on the first focusing method comprises:

Determine the distance data between the shooting target and the shooting device through a distance sensor;

calculating the focal object distance according to the distance data;

The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
The focusing method according to claim 25, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
The focusing method according to claim 1, wherein determining the second lens position based on the second focusing method comprises:

controlling the photographing device to photograph the photographing target at a first position and a second position, the first position being different from the second position;

When photographing the photographing target at the first position, acquiring a first blurring degree of the lens of the photographing device;

When shooting the shooting target at the second position, acquiring a second blurring degree of the lens of the shooting device;

The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
The focusing method according to claim 27, wherein the determining the second lens position according to the first ambiguity and the second ambiguity comprises:

determining a second curve for focusing based on the first blurriness and the second blurriness;

The second lens position is determined according to the second curve.
The focusing method according to claim 28, wherein the second confidence level is positively correlated with the curvature of the second curve.
The focusing method according to claim 1, wherein the acquiring the first lens position and the second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, further comprising:

In response to the selection instruction of the region of interest input by the user through the user interaction interface, the first lens position and the second lens position for enabling the shooting target to be in focus in the shooting screen of the shooting device are acquired, wherein the sense The photographing target is included in the region of interest.
A photographing device, characterized in that the photographing device comprises:

a memory that stores computer-executed instructions;

At least one processor, the at least one processor executes the computer-executable instructions stored in the memory, so that the following steps are implemented when the computer-executable instructions are executed:

acquiring a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is based on a first focusing method;

A focusing mode is determined based on a preset rule, and the photographing device is focused based on the determined focusing mode, wherein the focusing mode includes any one of the following modes: based on the first lens position and the One of the second lens positions focuses the photographing device, or the photographing device is focused on the photographing device based on one of the first lens position, the second lens position and the third lens position determined by the third focusing method focusing, wherein the third focusing method is different from the first focusing method and the second focusing method.
The photographing device according to claim 31, wherein the determining a focusing mode based on a preset rule comprises:

obtaining a first confidence level of the first lens position and a second confidence level of the second lens position;

The focusing mode is determined based on a threshold range to which a higher confidence level of the first confidence level and the second confidence level belongs.
The photographing device according to claim 32, wherein, determining the focusing mode based on a threshold range where the higher of the first confidence level and the second confidence level is located, comprising:

When the higher confidence level is within the first threshold range, the photographing device is focused based on the first lens position or the second lens position corresponding to the higher confidence level.
34. The photographing device according to claim 33, wherein when the higher confidence level is within a first threshold range, the pair of first lens positions or second lens positions corresponding to the higher confidence level is paired The photographing device performs focusing, including:

When the state machine is triggered to switch from the current state to the target state in response to the higher confidence being within the range of the first threshold, the first lens position or the second lens position corresponding to the higher confidence Focus on the camera described above.
The photographing device of claim 34, wherein the current state comprises a first state, a second state or a third state, wherein the first state is before the second state, and the second state The state precedes the third state.
The photographing device of claim 33, wherein the first threshold range is greater than 90% and less than or equal to 100%.
The photographing device according to claim 32, wherein, determining the focusing mode based on a threshold range where the higher of the first confidence level and the second confidence level is located, comprising:

When the higher confidence level is within the second threshold range, first control the lens of the photographing device to move to the first lens position or the second lens position corresponding to the higher confidence level, and then focus on the third The third lens position determined by the method focuses the photographing device.
The photographing device according to claim 37, wherein the determining the focusing mode based on a threshold range in which the higher of the first confidence level and the second confidence level is located comprises:

When the state machine is triggered to switch from the current state to the third state in response to the higher confidence being within the second threshold range, firstly control the lens of the photographing device to move to the first corresponding to the higher confidence a lens position or a second lens position, and then focus the photographing device based on the third lens position determined by the third focusing method, the current state includes a first state or a second state, wherein the first state is at The second state precedes the third state.
The photographing device according to claim 32, wherein, determining the focusing mode based on a threshold range where the higher of the first confidence level and the second confidence level is located, comprising:

When the state machine is triggered to switch from the first state to the second state in response to the higher confidence being within the third threshold range, firstly based on the first shot position or the second shot corresponding to the higher confidence The position determines the moving direction of the lens, and then focuses the shooting device based on the position of the third lens determined by the third focusing method, and the third focusing method moves the lens of the shooting device according to the moving direction. Including a first direction or a second direction, wherein the first direction and the second direction are opposite directions, and the first state precedes the second state.
The photographing device according to claim 32, wherein, determining the focusing mode based on a threshold range where the higher of the first confidence level and the second confidence level is located, comprising:

When the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, focus the photographing device based on the third lens position determined by the third focusing method, wherein the The second threshold range is greater than the third threshold range, and the third threshold range is greater than the fourth threshold range.
The photographing device according to claim 40, wherein when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the first state to the fourth state in response to the higher confidence level being within the fourth threshold range, the photographing device is subjected to the third lens position determined based on the third focusing method In focus, the fourth state follows the first state.
The photographing device according to claim 41, wherein when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the second state to the fourth state in response to the higher confidence being within the third threshold range or the fourth threshold range, the third focus determined based on the third focusing method The lens position focuses the photographing device, and the fourth state follows the second state.
The photographing device according to claim 41, wherein when the higher confidence level is within the second threshold range, the third threshold range or the fourth threshold range, the first threshold determined based on the third focusing method Three lens positions are used to focus the shooting device, including:

When the state machine is triggered to switch from the third state to the fourth state in response to the higher confidence being within the second threshold range or the third threshold range or the fourth threshold range, based on The third lens position determined by the third focusing method focuses the photographing device, and the fourth state is subsequent to the third state.
The photographing device of claim 35 or 38 or 39, wherein the first state includes initialization of a preparation phase, and the second state includes initialization of a coarse search phase.
38. The photographing apparatus of claim 35 or 38, wherein the third state includes initialization of a fine search phase.
43. The photographing apparatus of any one of claims 41 to 43, wherein the fourth state includes the operation of a fine search phase.
The photographing device according to any one of claims 37 to 43, wherein the second threshold range is less than or equal to 90% and greater than 70%.
The photographing device according to any one of claims 39 to 43, wherein the third threshold range is less than or equal to 70% and greater than or equal to 50%.
The photographing device of any one of claims 40 to 43, wherein the fourth threshold range is less than 50%.
The photographing device according to any one of claims 32 to 49, wherein the focusing is determined based on a threshold range to which a higher confidence level of the first confidence level and the second confidence level belongs. ways, including:

normalizing the first confidence level and the second confidence level;

The focusing mode is determined based on the normalized first confidence level and the threshold range to which the second confidence level after the normalization process belongs to a higher confidence level.
The photographing device according to any one of claims 31 to 50, wherein determining the third lens position based on a third focusing method comprises:

driving the lens to move at least two positions along a first direction and/or a second direction, wherein the first direction and the second direction are opposite directions;

obtaining image data information obtained by the lens at various positions;

Based on the clarity of each image data information, a third lens position is determined, wherein the third lens position is used to enable the shooting target to be in focus in the shooting picture of the shooting device.
The photographing device according to claim 51, wherein the determining the position of the third lens based on the definition of each image data information comprises:

determining a first curve for focusing based on the sharpness of each image data information;

The third lens position is determined based on the first curve.
51. The photographing device according to claim 51, wherein the third lens position comprises a lens position corresponding to the image data information with the highest definition in each image data information.
The photographing device of claim 51, wherein the first direction and the second direction are parallel to an optical axis of a lens of the photographing device, or the first direction and the second direction It is coincident with the optical axis of the lens of the photographing device.
The photographing device according to claim 31, wherein determining the first lens position based on the first focusing method comprises:

Determine the distance data between the shooting target and the shooting device by using a distance sensor;

calculating the focal object distance according to the distance data;

The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
The photographing device according to claim 55, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
The photographing device according to claim 31, wherein determining the second lens position based on the second focusing method comprises:

controlling the photographing device to photograph the photographing target at a first position and a second position, the first position being different from the second position;

When photographing the photographing target at the first position, acquiring a first blurring degree of the lens of the photographing device;

When shooting the shooting target at the second position, acquiring a second blurring degree of the lens of the shooting device;

The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
The photographing device according to claim 57, wherein the determining the second lens position according to the first blurriness degree and the second blurriness degree comprises:

determining a second curve for focusing based on the first blurriness and the second blurriness;

The second lens position is determined according to the second curve.
The photographing device according to claim 58, wherein the second confidence level is positively correlated with the curvature of the second curve.
The photographing device according to claim 31, wherein the acquiring the first lens position and the second lens position used to enable the photographing target to be in focus in the photographing picture of the photographing device further comprises:

In response to the selection instruction of the region of interest input by the user through the user interaction interface, the first lens position and the second lens position for enabling the shooting target to be in focus in the shooting screen of the shooting device are acquired, wherein the sense The photographing target is included in the region of interest.
The photographing device according to claim 31, wherein a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to move, so as to make the photographing device move. Adjust from the current lens position to the first lens position or the second lens position or the third lens position.
The photographing device according to claim 61, wherein the photographing device and the follow focus motor are carried on a pan/tilt head.
The photographing device according to claim 62, wherein the photographing device further comprises a display device, and the photographing device is connected in communication with the PTZ, wherein:

the display device is arranged on the hand-held part of the pan/tilt; or

The display device is detachably arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.
The photographing device according to claim 61, wherein the follow focus motor is connected in communication with the pan/tilt, and an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operation The component is used to receive a user's control command for the follow focus motor.
The photographing device according to claim 63, wherein the display device is a user interface of the photographing device, or the display device is connected in communication with the photographing device.
A photographing system, characterized in that, comprising: a PTZ and the photographing device described in any one of claims 31-65;

The pan/tilt is used to carry the photographing device.
A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, the focusing method according to any one of claims 1-30 is implemented.