CN104730802A - Optical axis included angle calibrating and focusing method and system and double-camera equipment - Google Patents

Abstract

The invention provides an optical axis included angle calibrating and focusing method and system and double-camera equipment. The calibrating method includes the steps that focusing is conducted on any feature point of a shot object, so that a first object distance value is acquired; the first imaging point coordinate value of the feature point on a first camera is determined; the second imaging point coordinate value of the feature point on a second camera is determined; the optical axis included angle of the double-camera equipment is determined according to the first imaging point coordinate value, the second imaging point coordinate value, the prestored parameters of the double-camera equipment, the first object distance value and a prestored optical axis included angle calculation formula. According to the technical scheme, self-calibration focusing of the double-camera equipment is achieved.

Description

The calibration of optical axis included angle, focusing method and system and dual camera equipment

Technical field

The present invention relates to optical focusing technical field, in particular to a kind of calibration steps of optical axis included angle and system, a kind of focusing method and system and a kind of dual camera equipment.

Background technology

In the related, in order to realize more excellent focus effects in shooting process, dual camera is developed and is applied to various capture apparatus, select the focusing (unique point) of object to be shot user after, each camera all carries out imaging to form two imaging points to this unique point, according to two imaging points to the Distance geometry equivalent focal length of melatope between the central point of imaging plane, determine the object distance value of object to be shot to lens plane, and then determine the distance of focus process lens moving.

But said process is based on the parallel ideal situation of two optical axises, when causing light shaft offset because manufacture craft deviation or external force are collided when capture apparatus, according to ideal situation determination object distance value, serious focus error can be caused, affect shooting effect and the experience of user.

And after closed loop motor technologies is applied to two-shot technology, although can realize measuring lens displacement based on Hall element, self-alignment effect can not be carried out to optical axis included angle parameter.

Therefore, the self-calibration process how realizing the capture apparatus of twin-lens becomes technical matters urgently to be resolved hurrily to realize accurately focusing.

Summary of the invention

The present invention just based on above-mentioned technical matters one of at least, proposes a kind of calibration steps of optical axis included angle and system, a kind of focusing method and system and a kind of dual camera equipment.

In view of this, embodiment according to a first aspect of the invention, proposes a kind of calibration steps of optical axis included angle, comprising: focus to arbitrary unique point of subject, obtains the first object distance value; Determine the first imaging point coordinate figure of described unique point on described first camera; Determine the second imaging point coordinate figure of described unique point on described second camera; The optical axis included angle of described dual camera equipment is determined according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

The calibration steps of optical axis included angle according to an embodiment of the invention, by obtaining the first object distance value of the first camera, and by the optical axis included angle sampled value of optical axis included angle computing formula determination dual camera equipment, to complete the calibration process of optical axis included angle, improve the calibration efficiency of optical axis included angle, the problems such as the focusing that the deviation avoiding optical axis included angle causes is inaccurate, improve the experience of user.

Particularly, determine with the mirror heart of the first camera first coordinate system that is initial point (wherein, the y-axis of the first coordinate system is perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and one the mirror heart of second camera be the second coordinate system of initial point (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle computing formula is difference, the parameter (equivalent focal length and mirror heart distance etc.) of dual camera, equilibrium relationships between optical axis included angle and object distance value, wherein, imaging point difference be two imaging points to corresponding y-axis distance value between difference, further, after Multiple through then out difference obtains multiple optical axis included angle sampled value, calculate its weighted mean value as optical axis included angle, improve the accuracy rate of optical axis included angle calibration.

In addition, the parameter of dual camera equipment can store in a register, or in the storage unit of microprocessor, to ensure to read the calculating that above-mentioned parameter carries out optical axis included angle fast, simultaneously, single camera focusing method can being adopted to the acquisition process of the first object distance value, as adopted closed loop motor to obtain defocused object distance value, ensure that the accuracy of object distance value and the reliability of trimming process.

According to one embodiment of present invention, preferably, obtain the first object distance value, comprise following concrete steps: obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera; Described first object distance value corresponding to described lens displacement value is obtained by described first mapping table.

The calibration steps of optical axis included angle according to an embodiment of the invention, by obtaining lens displacement value and mapping table, can quick obtaining first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves the efficiency of calibration process, particularly, motor can be closed, to realize after focusing by closed loop motor quick obtaining lens displacement value by installing.

According to one embodiment of present invention, preferably, before arbitrary unique point of subject is focused, also comprise following concrete steps: the parameter storing described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

The calibration steps of optical axis included angle according to an embodiment of the invention, by storing the parameter such as equivalent focal length value and mirror heart distance, can be directly used in the calculating of optical axis included angle by above-mentioned parameter, and then effectively improves efficiency and the accuracy rate of calibration optical axis included angle.

According to one embodiment of present invention, preferably, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises: $\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

The calibration steps of optical axis included angle according to an embodiment of the invention, above-mentioned optical axis included angle computing formula is created by optical geometry, particularly, by the similarity relation between the triangle at unique point place and the triangle at imaging point place, create above-mentioned optical axis included angle computing formula, also namely optical axis included angle sampled value is determined by imaging point, further, by repeatedly to the focusing of unique point, obtain the weighted mean value etc. of optical axis included angle sampled value, more meet the computational accuracy requirement of optical axis included angle.

According to one embodiment of present invention, preferably, determine the optical axis included angle of described dual camera equipment, comprise following concrete steps: the weighted mean value calculating the optical axis included angle sampled value of described whole unique point; Described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

The calibration steps of optical axis included angle according to an embodiment of the invention, by calculating the weighted mean value of described optical axis included angle sampled value as optical axis included angle, reducing the error in calibration process, improve the accuracy of the calibration of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: after determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

The calibration steps of optical axis included angle according to an embodiment of the invention, by creating the second mapping table, for the actual focus process of dual camera equipment provides data foundation, particularly, and pass through the continuous correction to optical axis included angle, in time the second mapping table is revised, can in actual focus process, by the difference of imaging point, determine object distance value fast, and then complete focus process.

Embodiment according to a second aspect of the invention, proposes a kind of focusing method, comprising: the three imaging point coordinate figure of arbitrary unique point on the first camera obtaining subject; Obtain the four imaging point coordinate figure of described unique point on described second camera; Using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determine described second object distance value according to the described optical axis included angle of described imaging point difference, calibration; Described lens displacement value is determined, to complete first time focusing according to described second object distance value and described first mapping table.

Focusing method according to an embodiment of the invention, by creating the calibration mapping table between image distance value and calibration shift value, can directly according to the calibration shift value of image distance value determination second camera, decrease the process of calculating, wherein, after optical axis included angle is calibrated, according to optical axis included angle and above-mentioned computing formula, by repeatedly recording image distance value, calibration mapping table can be created, and then in actual focus process, only need to obtain image distance value, the calibration shift value of second camera can be determined fast.

According to one embodiment of present invention, preferably, described second object distance value is determined according to the described optical axis included angle of described imaging point difference, calibration, comprise following concrete steps: the parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

Focusing method according to an embodiment of the invention, the second object distance value is obtained by optical axis included angle computing formula, improve the accuracy of the focusing of second camera, particularly, after optical axis included angle is calibrated, according to optical axis included angle computing formula, optical axis included angle computing formula is substituted into by the parameter of the mean value of the difference by repeatedly recording imaging point, the optical axis included angle of calibration and dual camera equipment, accurately can obtain the object distance value of second camera, and determine the calibration shift value of second camera fast according to object distance value and the second mapping table.

According to one embodiment of present invention, preferably, determine the second object distance value of described second camera according to the described optical axis included angle of described imaging point difference, calibration, comprise following concrete steps: determine according to described imaging point difference and described second mapping table the described second object distance value that described imaging point difference is corresponding.

Focusing method according to an embodiment of the invention, by obtaining the mapping relations of the lens displacement value of the second object distance value and second camera, improves focusing efficiency and the accuracy rate of second camera, controls second camera and completes focus process according to lens displacement value.

According to one embodiment of present invention, preferably, also comprise: complete first time to defocused, adopt contrast focusing method or phase place focusing method to complete second time focusing.

Focusing method according to an embodiment of the invention, by completing first time to defocused, carry out second time focusing, achieve focus effects more accurately, wherein, the mode adopting contrast focusing changes according to the contrast of focus place picture, lens location when searching contrast is maximum, the namely position of accurately focusing, and phase place focusing method is when focus exact position, phase detection can be known accurately and has currently been in focus state.

Embodiment according to a third aspect of the invention we, proposes a kind of calibration system of optical axis included angle, comprising: acquiring unit, for focusing to arbitrary unique point of subject, obtains the first object distance value; Determining unit, for determining the first imaging point coordinate figure of described unique point on described first camera; Described determining unit also for, determine the second imaging point coordinate figure of described unique point on described second camera; Described determining unit also for, determine the optical axis included angle of described dual camera equipment according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

The calibration system of optical axis included angle according to an embodiment of the invention, by obtaining the first object distance value of the first camera, and by the optical axis included angle sampled value of optical axis included angle computing formula determination dual camera equipment, to complete the calibration process of optical axis included angle, improve the calibration efficiency of optical axis included angle, the problems such as the focusing that the deviation avoiding optical axis included angle causes is inaccurate, improve the experience of user.

Particularly, determine with the mirror heart of the first camera first coordinate system that is initial point (wherein, the y-axis of the first coordinate system is perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and one the mirror heart of second camera be the second coordinate system of initial point (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle computing formula is difference, the parameter (equivalent focal length and mirror heart distance etc.) of dual camera, equilibrium relationships between optical axis included angle and object distance value, wherein, imaging point difference be two imaging points to corresponding y-axis distance value between difference, further, after Multiple through then out difference obtains multiple optical axis included angle sampled value, calculate its weighted mean value as optical axis included angle, improve the accuracy rate of optical axis included angle calibration.

In addition, the parameter of dual camera equipment can store in a register, or in the storage unit of microprocessor, to ensure to read the calculating that above-mentioned parameter carries out optical axis included angle fast, simultaneously, single camera focusing method can being adopted to the acquisition process of the first object distance value, as adopted closed loop motor to obtain defocused object distance value, ensure that the accuracy of object distance value and the reliability of trimming process.

According to one embodiment of present invention, preferably, described acquiring unit also for, obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera; And for being obtained described first object distance value corresponding to described lens displacement value by described first mapping table.

The calibration system of optical axis included angle according to an embodiment of the invention, by obtaining lens displacement value and mapping table, can quick obtaining first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves the efficiency of calibration process, particularly, motor can be closed, to realize after focusing by closed loop motor quick obtaining lens displacement value by installing.

According to one embodiment of present invention, preferably, also comprise: storage unit, for storing the parameter of described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

The calibration system of optical axis included angle according to an embodiment of the invention, by storing the parameter such as equivalent focal length value and mirror heart distance, can be directly used in the calculating of optical axis included angle by above-mentioned parameter, and then effectively improves efficiency and the accuracy rate of calibration optical axis included angle.

According to one embodiment of present invention, preferably, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises: $\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

The calibration system of optical axis included angle according to an embodiment of the invention, above-mentioned optical axis included angle computing formula is created by optical geometry, particularly, by the similarity relation between the triangle at unique point place and the triangle at imaging point place, create above-mentioned optical axis included angle computing formula, also namely optical axis included angle sampled value is determined by imaging point, further, by repeatedly to the focusing of unique point, obtain the weighted mean value etc. of optical axis included angle sampled value, more meet the computational accuracy requirement of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: computing unit, for calculating the weighted mean value of the optical axis included angle sampled value of described whole unique point; Described storage unit also for, described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

The calibration system of optical axis included angle according to an embodiment of the invention, by calculating the weighted mean value of described optical axis included angle sampled value as optical axis included angle, reducing the error in calibration process, improve the accuracy of the calibration of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: creating unit, for after determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

The calibration system of optical axis included angle according to an embodiment of the invention, by creating the second mapping table, for the actual focus process of dual camera equipment provides data foundation, particularly, and pass through the continuous correction to optical axis included angle, in time the second mapping table is revised, can in actual focus process, by the difference of imaging point, determine object distance value fast, and then complete focus process.

Embodiment according to a forth aspect of the invention, proposes a kind of focusing system, comprising: acquiring unit, for obtaining the three imaging point coordinate figure of arbitrary unique point on the first camera of subject; Described acquiring unit also for, obtain the four imaging point coordinate figure of described unique point on described second camera; Described focusing system, also comprises: determining unit, for using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determines described second object distance value according to the described optical axis included angle of described imaging point difference, calibration; Focusing unit, for determining described lens displacement value according to described second object distance value and described first mapping table, to complete first time focusing.

Focusing system according to an embodiment of the invention, by creating the calibration mapping table between image distance value and calibration shift value, can directly according to the calibration shift value of image distance value determination second camera, decrease the process of calculating, wherein, after optical axis included angle is calibrated, according to optical axis included angle and above-mentioned computing formula, by repeatedly recording image distance value, calibration mapping table can be created, and then in actual focus process, only need to obtain image distance value, the calibration shift value of second camera can be determined fast.

According to one embodiment of present invention, preferably, described determining unit also for, the parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

Focusing system according to an embodiment of the invention, the second object distance value is obtained by optical axis included angle computing formula, improve the accuracy of the focusing of second camera, particularly, after optical axis included angle is calibrated, according to optical axis included angle computing formula, optical axis included angle computing formula is substituted into by the parameter of the mean value of the difference by repeatedly recording imaging point, the optical axis included angle of calibration and dual camera equipment, accurately can obtain the object distance value of second camera, and determine the calibration shift value of second camera fast according to object distance value and the second mapping table.

According to one embodiment of present invention, preferably, described determining unit also for, determine according to described imaging point difference and described second mapping table the described second object distance value that described imaging point difference is corresponding.

Focusing system according to an embodiment of the invention, by obtaining the mapping relations of the lens displacement value of the second object distance value and second camera, improves focusing efficiency and the accuracy rate of second camera, controls second camera and completes focus process according to lens displacement value.

According to one embodiment of present invention, preferably, described focusing unit also for, complete first time to defocused, adopting contrast focusing method or phase place focusing method to complete second time focusing.

Focusing system according to an embodiment of the invention, by completing first time to defocused, carry out second time focusing, achieve focus effects more accurately, wherein, the mode adopting contrast focusing changes according to the contrast of focus place picture, lens location when searching contrast is maximum, the namely position of accurately focusing, and phase place focusing method is when focus exact position, phase detection can be known accurately and has currently been in focus state.

Embodiment according to a fifth aspect of the invention, proposes a kind of dual camera equipment, comprising: the calibration system of the optical axis included angle as described in above-mentioned any one technical scheme or the focusing system as described in above-mentioned any one technical scheme.

By above technical scheme, can realize rapid focus and precisely focusing, meanwhile, achieve the self calibration of the optical axis included angle to dual camera equipment, the deviation avoided because of optical axis included angle causes focus errors, improves the experience of user at shooting process.

Accompanying drawing explanation

Fig. 1 shows the schematic flow diagram of the calibration steps of optical axis included angle according to an embodiment of the invention;

Fig. 2 shows the schematic flow diagram of focusing method according to an embodiment of the invention;

Fig. 3 shows the schematic block diagram of the calibration system of optical axis included angle according to an embodiment of the invention;

Fig. 4 shows the schematic block diagram of focusing system according to an embodiment of the invention;

Fig. 5 shows the schematic block diagram of dual camera equipment according to an embodiment of the invention;

Fig. 6 shows the coordinate system schematic diagram of dual camera equipment according to an embodiment of the invention;

Fig. 7 shows the light path schematic diagram (optical axis included angle is zero) of capture apparatus according to an embodiment of the invention;

Fig. 8 shows the light path schematic diagram (optical axis deflects) of capture apparatus according to an embodiment of the invention;

Fig. 9 show capture apparatus according to an embodiment of the invention light path schematic diagram (; Two optical axises deflect).

Embodiment

In order to more clearly understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments, the present invention is further described in detail.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.

Set forth a lot of detail in the following description so that fully understand the present invention; but; the present invention can also adopt other to be different from other modes described here and implement, and therefore, protection scope of the present invention is not by the restriction of following public specific embodiment.

Fig. 1 shows the schematic flow diagram of the calibration steps of optical axis included angle according to an embodiment of the invention.

As shown in Figure 1, the calibration steps of optical axis included angle according to an embodiment of the invention, comprising: step 102, focuses to arbitrary unique point of subject, obtains the first object distance value; Step 104, determines the first imaging point coordinate figure of described unique point on described first camera; Step 106, determines the second imaging point coordinate figure of described unique point on described second camera; Step 108, determines the optical axis included angle of described dual camera equipment according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

The calibration steps of optical axis included angle according to an embodiment of the invention, by obtaining the first object distance value of the first camera, and by the optical axis included angle sampled value of optical axis included angle computing formula determination dual camera equipment, to complete the calibration process of optical axis included angle, improve the calibration efficiency of optical axis included angle, the problems such as the focusing that the deviation avoiding optical axis included angle causes is inaccurate, improve the experience of user.

Particularly, determine with the mirror heart of the first camera first coordinate system that is initial point (wherein, the y-axis of the first coordinate system is perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and one the mirror heart of second camera be the second coordinate system of initial point (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle computing formula is difference, the parameter (equivalent focal length and mirror heart distance etc.) of dual camera, equilibrium relationships between optical axis included angle and object distance value, wherein, imaging point difference be two imaging points to corresponding y-axis distance value between difference, further, after Multiple through then out difference obtains multiple optical axis included angle sampled value, calculate its weighted mean value as optical axis included angle, improve the accuracy rate of optical axis included angle calibration.

In addition, the parameter of dual camera equipment can store in a register, or in the storage unit of microprocessor, to ensure to read the calculating that above-mentioned parameter carries out optical axis included angle fast, simultaneously, single camera focusing method can being adopted to the acquisition process of the first object distance value, as adopted closed loop motor to obtain defocused object distance value, ensure that the accuracy of object distance value and the reliability of trimming process.

According to one embodiment of present invention, preferably, obtain the first object distance value, comprise following concrete steps: obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera; Described first object distance value corresponding to described lens displacement value is obtained by described first mapping table.

The calibration steps of optical axis included angle according to an embodiment of the invention, by obtaining lens displacement value and mapping table, can quick obtaining first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves the efficiency of calibration process, particularly, motor can be closed, to realize after focusing by closed loop motor quick obtaining lens displacement value by installing.

According to one embodiment of present invention, preferably, before arbitrary unique point of subject is focused, also comprise following concrete steps: the parameter storing described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

The calibration steps of optical axis included angle according to an embodiment of the invention, by storing the parameter such as equivalent focal length value and mirror heart distance, can be directly used in the calculating of optical axis included angle by above-mentioned parameter, and then effectively improves efficiency and the accuracy rate of calibration optical axis included angle.

According to one embodiment of present invention, preferably, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises: $\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

The calibration steps of optical axis included angle according to an embodiment of the invention, above-mentioned optical axis included angle computing formula is created by optical geometry, particularly, by the similarity relation between the triangle at unique point place and the triangle at imaging point place, create above-mentioned optical axis included angle computing formula, also namely optical axis included angle sampled value is determined by imaging point, further, by repeatedly to the focusing of unique point, obtain the weighted mean value etc. of optical axis included angle sampled value, more meet the computational accuracy requirement of optical axis included angle.

According to one embodiment of present invention, preferably, determine the optical axis included angle of described dual camera equipment, comprise following concrete steps: the weighted mean value calculating the optical axis included angle sampled value of described whole unique point; Described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

The calibration steps of optical axis included angle according to an embodiment of the invention, by calculating the weighted mean value of described optical axis included angle sampled value as optical axis included angle, reducing the error in calibration process, improve the accuracy of the calibration of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: after determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

The calibration steps of optical axis included angle according to an embodiment of the invention, by creating the second mapping table, for the actual focus process of dual camera equipment provides data foundation, particularly, and pass through the continuous correction to optical axis included angle, in time the second mapping table is revised, can in actual focus process, by the difference of imaging point, determine object distance value fast, and then complete focus process.

Fig. 2 shows the schematic flow diagram of focusing method according to an embodiment of the invention.

As shown in Figure 2, focusing method according to an embodiment of the invention, comprising: step 202, obtains the three imaging point coordinate figure of arbitrary unique point on the first camera of subject; Step 204, obtains the four imaging point coordinate figure of described unique point on described second camera; Step 206, using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determines described second object distance value according to the described optical axis included angle of described imaging point difference, calibration; Step 208, determines described lens displacement value according to described second object distance value and described first mapping table, to complete first time focusing.

Focusing method according to an embodiment of the invention, by creating the calibration mapping table between image distance value and calibration shift value, can directly according to the calibration shift value of image distance value determination second camera, decrease the process of calculating, wherein, after optical axis included angle is calibrated, according to optical axis included angle and above-mentioned computing formula, by repeatedly recording image distance value, calibration mapping table can be created, and then in actual focus process, only need to obtain image distance value, the calibration shift value of second camera can be determined fast.

According to one embodiment of present invention, preferably, described second object distance value is determined according to the described optical axis included angle of described imaging point difference, calibration, comprise following concrete steps: the parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

Focusing method according to an embodiment of the invention, the second object distance value is obtained by optical axis included angle computing formula, improve the accuracy of the focusing of second camera, particularly, after optical axis included angle is calibrated, according to optical axis included angle computing formula, optical axis included angle computing formula is substituted into by the parameter of the mean value of the difference by repeatedly recording imaging point, the optical axis included angle of calibration and dual camera equipment, accurately can obtain the object distance value of second camera, and determine the calibration shift value of second camera fast according to object distance value and the second mapping table.

According to one embodiment of present invention, preferably, determine the second object distance value of described second camera according to the described optical axis included angle of described imaging point difference, calibration, comprise following concrete steps: determine according to described imaging point difference and described second mapping table the described second object distance value that described imaging point difference is corresponding.

Focusing method according to an embodiment of the invention, by obtaining the mapping relations of the lens displacement value of the second object distance value and second camera, improves focusing efficiency and the accuracy rate of second camera, controls second camera and completes focus process according to lens displacement value.

According to one embodiment of present invention, preferably, also comprise: complete first time to defocused, adopt contrast focusing method or phase place focusing method to complete second time focusing.

Focusing method according to an embodiment of the invention, by completing first time to defocused, carry out second time focusing, achieve focus effects more accurately, wherein, the mode adopting contrast focusing changes according to the contrast of focus place picture, lens location when searching contrast is maximum, the namely position of accurately focusing, and phase place focusing method is when focus exact position, phase detection can be known accurately and has currently been in focus state.

Fig. 3 shows the schematic block diagram of the calibration system of optical axis included angle according to an embodiment of the invention.

As shown in Figure 3, the calibration system 300 of optical axis included angle according to an embodiment of the invention, comprising: acquiring unit 302, for focusing to arbitrary unique point of subject, obtains the first object distance value; Determining unit 304, for determining the first imaging point coordinate figure of described unique point on described first camera; Described determining unit 304 also for, determine the second imaging point coordinate figure of described unique point on described second camera; Described determining unit 304 also for, determine the optical axis included angle of described dual camera equipment according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

The calibration system of optical axis included angle according to an embodiment of the invention, by obtaining the first object distance value of the first camera, and by the optical axis included angle sampled value of optical axis included angle computing formula determination dual camera equipment, to complete the calibration process of optical axis included angle, improve the calibration efficiency of optical axis included angle, the problems such as the focusing that the deviation avoiding optical axis included angle causes is inaccurate, improve the experience of user.

Particularly, determine with the mirror heart of the first camera first coordinate system that is initial point (wherein, the y-axis of the first coordinate system is perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and one the mirror heart of second camera be the second coordinate system of initial point (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, the x-axis of the second coordinate system is parallel to imaging surface), optical axis included angle computing formula is difference, the parameter (equivalent focal length and mirror heart distance etc.) of dual camera, equilibrium relationships between optical axis included angle and object distance value, wherein, imaging point difference be two imaging points to corresponding y-axis distance value between difference, further, after Multiple through then out difference obtains multiple optical axis included angle sampled value, calculate its weighted mean value as optical axis included angle, improve the accuracy rate of optical axis included angle calibration.

In addition, the parameter of dual camera equipment can store in a register, or in the storage unit of microprocessor, to ensure to read the calculating that above-mentioned parameter carries out optical axis included angle fast, simultaneously, single camera focusing method can being adopted to the acquisition process of the first object distance value, as adopted closed loop motor to obtain defocused object distance value, ensure that the accuracy of object distance value and the reliability of trimming process.

According to one embodiment of present invention, preferably, described acquiring unit 302 also for, obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera; And for being obtained described first object distance value corresponding to described lens displacement value by described first mapping table.

The calibration system of optical axis included angle according to an embodiment of the invention, by obtaining lens displacement value and mapping table, can quick obtaining first object distance value, and then the calibration of optical axis included angle is realized according to object distance value, technical process is simple, improves the efficiency of calibration process, particularly, motor can be closed, to realize after focusing by closed loop motor quick obtaining lens displacement value by installing.

According to one embodiment of present invention, preferably, also comprise: storage unit 306, for storing the parameter of described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

The calibration system of optical axis included angle according to an embodiment of the invention, by storing the parameter such as equivalent focal length value and mirror heart distance, can be directly used in the calculating of optical axis included angle by above-mentioned parameter, and then effectively improves efficiency and the accuracy rate of calibration optical axis included angle.

According to one embodiment of present invention, preferably, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises: $\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

The calibration system of optical axis included angle according to an embodiment of the invention, above-mentioned optical axis included angle computing formula is created by optical geometry, particularly, by the similarity relation between the triangle at unique point place and the triangle at imaging point place, create above-mentioned optical axis included angle computing formula, also namely optical axis included angle sampled value is determined by imaging point, further, by repeatedly to the focusing of unique point, obtain the weighted mean value etc. of optical axis included angle sampled value, more meet the computational accuracy requirement of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: computing unit 308, for calculating the weighted mean value of the optical axis included angle sampled value of described whole unique point; Described storage unit 306 also for, described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

The calibration system of optical axis included angle according to an embodiment of the invention, by calculating the weighted mean value of described optical axis included angle sampled value as optical axis included angle, reducing the error in calibration process, improve the accuracy of the calibration of optical axis included angle.

According to one embodiment of present invention, preferably, also comprise: creating unit 310, for after determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

The calibration system of optical axis included angle according to an embodiment of the invention, by creating the second mapping table, for the actual focus process of dual camera equipment provides data foundation, particularly, and pass through the continuous correction to optical axis included angle, in time the second mapping table is revised, can in actual focus process, by the difference of imaging point, determine object distance value fast, and then complete focus process.

Embodiment according to a forth aspect of the invention, proposes a kind of focusing system 400, comprising: acquiring unit 402, for obtaining the three imaging point coordinate figure of arbitrary unique point on the first camera of subject; Described acquiring unit 402 also for, obtain the four imaging point coordinate figure of described unique point on described second camera; Described focusing system 400, also comprise: determining unit 404, for using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determine described second object distance value according to the described optical axis included angle of described imaging point difference, calibration; Focusing unit 406, for determining described lens displacement value according to described second object distance value and described first mapping table, to complete first time focusing.

Focusing system according to an embodiment of the invention, by creating the calibration mapping table between image distance value and calibration shift value, can directly according to the calibration shift value of image distance value determination second camera, decrease the process of calculating, wherein, after optical axis included angle is calibrated, according to optical axis included angle and above-mentioned computing formula, by repeatedly recording image distance value, calibration mapping table can be created, and then in actual focus process, only need to obtain image distance value, the calibration shift value of second camera can be determined fast.

According to one embodiment of present invention, preferably, described determining unit 404 also for, the parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

Focusing system according to an embodiment of the invention, the second object distance value is obtained by optical axis included angle computing formula, improve the accuracy of the focusing of second camera, particularly, after optical axis included angle is calibrated, according to optical axis included angle computing formula, optical axis included angle computing formula is substituted into by the parameter of the mean value of the difference by repeatedly recording imaging point, the optical axis included angle of calibration and dual camera equipment, accurately can obtain the object distance value of second camera, and determine the calibration shift value of second camera fast according to object distance value and the second mapping table.

According to one embodiment of present invention, preferably, described determining unit 404 also for, determine according to described imaging point difference and described second mapping table the described second object distance value that described imaging point difference is corresponding.

Focusing system according to an embodiment of the invention, by obtaining the mapping relations of the lens displacement value of the second object distance value and second camera, improves focusing efficiency and the accuracy rate of second camera, controls second camera and completes focus process according to lens displacement value.

According to one embodiment of present invention, preferably, described focusing unit 406 also for, complete first time to defocused, adopting contrast focusing method or phase place focusing method to complete second time focusing.

Focusing system according to an embodiment of the invention, by completing first time to defocused, carry out second time focusing, achieve focus effects more accurately, wherein, the mode adopting contrast focusing changes according to the contrast of focus place picture, lens location when searching contrast is maximum, the namely position of accurately focusing, and phase place focusing method is when focus exact position, phase detection can be known accurately and has currently been in focus state.

Fig. 5 shows the schematic block diagram of dual camera equipment according to an embodiment of the invention.

As shown in Figure 5, dual camera equipment 500 according to an embodiment of the invention, comprising: the calibration system 300 of the optical axis included angle as described in above-mentioned any one technical scheme or the focusing system 400 as described in above-mentioned any one technical scheme.

Below in conjunction with Fig. 1 to Fig. 9, the focus process of capture apparatus is according to an embodiment of the invention specifically described.

Can export two groups of mapping tables after the closed loop motor of dual camera equipment and camera lens adaptation, wherein, one group is the mapping table (table 1) of object distance value and lens displacement, the mapping table (table 2) of another group displacement and lens displacement.

As shown in Figure 6, determine with the mirror heart of camera 1 first coordinate system that is initial point (wherein, the y-axis of the first coordinate system is perpendicular to imaging surface, the x-axis of the first coordinate system is parallel to imaging surface), and the mirror heart of camera 2 is second coordinate system (wherein, the y-axis of the second coordinate system is perpendicular to imaging surface, and the x-axis of the second coordinate system is parallel to imaging surface) of initial point, for the parameters of the angle calcu-lation formula of optical axis 1 and optical axis 2, be all the numerical value recorded in the coordinate system of correspondence.

Table 1

Object Distance(m)	Lens Shift(mm)
		∞	0.000
10.0	-0.001
		5.0	-0.003
4.0	-0.004
		3.0	-0.005
2.0	-0.007
		1.9	-0.008
1.8	-0.008
		1.7	-0.009
1.6	-0.009
		1.5	-0.010
1.4	-0.010
		1.3	-0.011
1.2	-0.012
		1.1	-0.013
1.0	-0.015
		0.9	-0.016
0.8	-0.018
		0.7	-0.021
0.6	-0.024
		0.5	-0.029
0.45	-0.033
		0.40	-0.037
0.35	-0.042
		0.30	-0.049
0.25	-0.059
		0.20	-0.074
0.15	-0.099
		0.14	-0.107
0.13	-0.115
		0.12	-0.125
0.11	-0.137
		0.10	-0.151

As shown in Figure 7, when the optical axis included angle parameter of capture apparatus is 0, according to the proportionate relationship of similar triangles, have formula as follows:

$\frac{d}{L}=\left[\frac{x1-x2}{f}\right],$

Wherein, d is mirror heart distance, and L is object distance value, and f is equivalent focal length, and x1-x2 is above-mentioned difference difference, therefore, and can the quick obtaining optical axis included angle object distance value L that to be 0 be by above-mentioned formula, table 1 and table 2.

Below the general applicability of the computing formula of optical axis included angle is described by specific embodiment:

Attention: here we define optical axis 2 angle that optical axis 1 turns clockwise relatively is just, otherwise is negative.

Embodiment one:

As shown in Figure 8, when an optical axis of capture apparatus deflects, and when optical axis included angle parameter is α, equally, according to the proportionate relationship of similar triangles, have system of equations (1) as follows:

$\left\{\begin{array}{c}\frac{x1}{f}=\frac{x}{L},\\ \frac{x2}{f}=\frac{x+\mathrm{\Δx}+d}{L}=\frac{x1}{f}+\frac{d}{L}+\tan \mathrm{\α},\end{array}\right.$

Wherein, d is mirror heart distance, and L is object distance value, f is equivalent focal length, x2-x1 is difference, and α is optical axis included angle, and Δ x is light shaft offset distance, therefore, can quick obtaining optical axis included angle be the object distance value L of α by above-mentioned formula, obtain α value by above-mentioned system of equations, thus realize the self calibration of optical axis included angle, and then calculate object distance value based on the α after calibration, and associative list 1 and table 2 can realize accurate focus process.

After carrying out simplification elimination Δ x to system of equations (1), the computing formula obtaining optical axis included angle is: $\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

Embodiment two:

As shown in Figure 9, when two optical axises of capture apparatus deflect, and optical axis included angle parameter is respectively α ₁and α ₂time, optical axis included angle α=α ₂-α ₁, equally, according to the proportionate relationship of similar triangles, have system of equations (2) as follows:

$\left\{\begin{array}{c}\frac{x1-\mathrm{\Δx}1}{f}=\frac{x}{L}\\ \frac{x2-\mathrm{\Δx}2}{f}=\frac{x+x2-\mathrm{\Δx}2+d}{L+f}\end{array}\right.$

Note, above-mentioned △ x1, △ x2, △ x, α 1, α 2 have symbol, may be just also may be negative.

In addition, $\mathrm{\α}1=\arctan \frac{\mathrm{\Δx}1}{f},\mathrm{\α}2=\arctan \frac{\mathrm{\Δx}2}{f},$

Wherein, d is mirror heart distance, L is object distance value, f is equivalent focal length, x2-x1 is difference, α is optical axis included angle, Δ x1 is primary optic axis offset distance, Δ x2 is the second light shaft offset distance, therefore, can quick obtaining optical axis included angle be the object distance value L (eliminate parameter Δ x1 and Δ x2) of α by above-mentioned formula, α value is obtained by above-mentioned system of equations, thus realize the self calibration of optical axis included angle, and then calculate object distance value based on the α after calibration, and associative list 1 and table 2 can realize accurate focus process.

Table 2

(x2-x1) (unit: pixel)	Lens Shift(mm)
		0	0.000
1	-0.001
		2	-0.003
3	-0.004
		4	-0.005
5	-0.007
		6	-0.008
7	-0.008
		8	-0.009
9	-0.009
		10	-0.010
11	-0.010
		12	-0.011
13	-0.012
		14	-0.013
16	-0.015
		18	-0.016
20	-0.018
		22	-0.021
24	-0.024
		28	-0.029
32	-0.033
		36	-0.037
40	-0.042
		44	-0.049
50	-0.059
		56	-0.074
62	-0.099
		70	-0.107
80	-0.115
		90	-0.125
110	-0.137
		130	-0.151

Above-mentioned system of equations (2) is simplified, can obtain:

$\mathrm{\Δx}2-\mathrm{\Δx}1=(x2-x1)-\frac{\mathrm{fd}}{L},$

Optical axis included angle:

$\mathrm{\α}=\mathrm{\α}1-\mathrm{\α}2=\arctan \left(\frac{\mathrm{\Δx}2}{f}\right)-\arctan \left(\frac{\mathrm{\Δx}1}{f}\right),$

Can obtain under small angles:

$\mathrm{\α}=\mathrm{\α}1-\mathrm{\α}2=\arctan \left(\frac{\mathrm{\Δx}2-\mathrm{\Δx}1}{f}\right)=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}),$

Also namely, the computing formula obtaining optical axis included angle when two optical axises all deflect is similarly: known by above-mentioned two embodiments, the computing formula of optical axis included angle is applicable to the situation that all optical axis included angles deflect according to an embodiment of the invention, has general adaptability.

During above-mentioned capture apparatus employing rapid focus, when testing focusing, obtaining unique point in the difference (mean value repeatedly tested) of imaging surface, determining lens displacement by table 2, rapid focus process can be completed.

After completing rapid focus, in the focusing of employing contrast or phase place focusing, focus more accurately to twin-lens, in shooting process, after statistics lens displacement, his-and-hers watches 1 and table 2 carry out upgrading and optimizing.

More than be described with reference to the accompanying drawings technical scheme of the present invention, considered that the self-calibration process of the capture apparatus how realizing twin-lens is to realize the technical matters of accurately focusing.Therefore, the present invention proposes a kind of new focusing scheme and a kind of dual camera equipment, rapid focus and precisely focusing can be realized, simultaneously, achieve the self calibration of the optical axis included angle parameter to dual camera equipment, the error avoided because of optical axis included angle parameter causes focus errors, improves the experience of user at shooting process.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (21)

1. a calibration steps for optical axis included angle, described calibration steps is applicable to the dual camera equipment including the first camera and second camera, it is characterized in that, described calibration steps comprises:

Arbitrary unique point of subject is focused, obtains the first object distance value;

Determine the first imaging point coordinate figure of described unique point on described first camera;

Determine the second imaging point coordinate figure of described unique point on described second camera;

The optical axis included angle of described dual camera equipment is determined according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

2. the calibration steps of optical axis included angle according to claim 1, is characterized in that, obtains the first object distance value, comprises following concrete steps:

Obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera;

Described first object distance value corresponding to described lens displacement value is obtained by described first mapping table.

3. the calibration steps of optical axis included angle according to claim 1, is characterized in that, before focusing to arbitrary unique point of subject, also comprises following concrete steps:

Store the parameter of described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

4. the calibration steps of optical axis included angle according to claim 3, it is characterized in that, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises:

$\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

5. axis calibrating method according to any one of claim 1 to 4, is characterized in that, determines the optical axis included angle of described dual camera equipment, comprises following concrete steps:

Calculate the weighted mean value of the optical axis included angle sampled value of described whole unique point;

Described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

6. axis calibrating method according to any one of claim 1 to 4, is characterized in that, also comprises:

After determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

7. a focusing method, the axis calibrating method be applicable to according to any one of claim 1 to 6 completes the dual camera equipment of optical axis included angle calibration, it is characterized in that, comprising:

Obtain the three imaging point coordinate figure of arbitrary unique point on the first camera of subject;

Obtain the four imaging point coordinate figure of described unique point on described second camera;

Using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determine described second object distance value according to the described optical axis included angle of described imaging point difference, calibration;

Described lens displacement value is determined, to complete first time focusing according to described second object distance value and described first mapping table.

8. focusing method according to claim 7, is characterized in that, determines described second object distance value, comprise following concrete steps according to the described optical axis included angle of described imaging point difference, calibration:

The parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

9. focusing method according to claim 7, is characterized in that, determines the second object distance value of described second camera, comprise following concrete steps according to the described optical axis included angle of described imaging point difference, calibration:

The described second object distance value that described imaging point difference is corresponding is determined according to described imaging point difference and described second mapping table.

10. focusing method according to claim 8 or claim 9, is characterized in that, also comprise:

Complete first time to defocused, adopt contrast focusing method or phase place focusing method to complete second time focusing.

The calibration system of 11. 1 kinds of optical axis included angles, described calibration system is applicable to the dual camera equipment including the first camera and second camera, it is characterized in that, described calibration system comprises:

Acquiring unit, for focusing to arbitrary unique point of subject, obtains the first object distance value;

Determining unit, for determining the first imaging point coordinate figure of described unique point on described first camera;

Described determining unit also for, determine the second imaging point coordinate figure of described unique point on described second camera;

Described determining unit also for, determine the optical axis included angle of described dual camera equipment according to the parameter of described dual camera equipment of described first coordinate figure imaging point coordinate figure, described second coordinate figure imaging point coordinate figure, pre-stored and the optical axis included angle computing formula of described first object distance value and pre-stored.

The calibration system of 12. optical axis included angles according to claim 11, it is characterized in that, described acquiring unit also for, obtain the described lens displacement value of pre-stored and the first mapping table of object distance value, wherein, described object distance value comprises the first object distance value of described first camera and the second object distance value of described second camera; And

For being obtained described first object distance value corresponding to described lens displacement value by described first mapping table.

The calibration system of 13. optical axis included angles according to claim 11, is characterized in that, also comprise:

Storage unit, for storing the parameter of described dual camera equipment, wherein, described parameter comprises the mirror heart distance between the equivalent focal length value of described dual camera equipment and described first camera central point and described second camera central point.

The calibration system of 14. optical axis included angles according to claim 13, it is characterized in that, described first imaging point coordinate figure is characterized with x1, described second imaging point coordinate figure is characterized with x2, described object distance value is characterized with L, the parameter of described dual camera equipment comprises mirror heart distance d and equivalent focal length value f, then described optical axis included angle computing formula, specifically comprises::

$\mathrm{\α}=\arctan (\frac{(x2-x1)}{f}-\frac{d}{L}).$

15., according to claim 11 to the optical axis calibrator system according to any one of 14, is characterized in that, also comprise:

Computing unit, for calculating the weighted mean value of the optical axis included angle sampled value of described whole unique point;

Described storage unit also for, described weighted mean value is stored in the microprocessor of described dual camera equipment, using the optical axis included angle as described dual camera equipment.

16., according to claim 11 to the optical axis calibrator system according to any one of 14, is characterized in that, also comprise:

Creating unit, for after determining described optical axis included angle, using the difference between described second imaging point coordinate figure and described first imaging point coordinate figure as imaging point difference, create the second mapping table between described imaging point difference and described object distance value by described optical axis included angle computing formula.

17. 1 kinds of focusing systems, the optical axis calibrator system be applicable to according to any one of claim 11 to 16 completes the dual camera equipment of optical axis included angle calibration, it is characterized in that, comprising:

Acquiring unit, for obtaining the three imaging point coordinate figure of arbitrary unique point on the first camera of subject;

Described acquiring unit also for, obtain the four imaging point coordinate figure of described unique point on described second camera;

Described focusing system, also comprises:

Determining unit, for using the difference of described 4th imaging point coordinate figure and described 3rd imaging point coordinate figure as described imaging point difference, determines described second object distance value according to the described optical axis included angle of described imaging point difference, calibration;

Focusing unit, for determining described lens displacement value according to described second object distance value and described first mapping table, to complete first time focusing.

18. focusing systems according to claim 17, it is characterized in that, described determining unit also for, the parameter of the optical axis included angle of described imaging point difference, calibration and described dual camera equipment is substituted into described optical axis included angle computing formula, to obtain described second object distance value.

19. focusing systems according to claim 17, is characterized in that, described determining unit also for, determine according to described imaging point difference and described second mapping table the described second object distance value that described imaging point difference is corresponding.

20. focusing systems according to claim 18 or 19, is characterized in that, described focusing unit also for, complete first time to defocused, adopting contrast focusing method or phase place focusing method to complete second time focusing.

21. 1 kinds of dual camera equipment, is characterized in that, comprising: the calibration system of the optical axis included angle according to any one of claim 11 to 16 or the focusing system according to any one of claim 17 to 20.