CN106454090A - Automatic focusing method and system based on depth camera - Google Patents
Automatic focusing method and system based on depth camera Download PDFInfo
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- CN106454090A CN106454090A CN201610886040.XA CN201610886040A CN106454090A CN 106454090 A CN106454090 A CN 106454090A CN 201610886040 A CN201610886040 A CN 201610886040A CN 106454090 A CN106454090 A CN 106454090A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
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Abstract
The invention relates to the field of automatic focusing, in particular to a method for realizing automatic focusing by acquisition of depth information through a depth camera and a camera system. The method comprises the following steps: S1, acquiring a non-depth image of a target area by using a focusing camera; S2, acquiring a focusing area needing to be focused in the non-depth image; S3, intercepting a depth extraction area only including the focusing area at a corresponding position on an acquired image by the depth camera according to the focusing area, only acquiring a depth image of the depth extraction area by the depth camera, and calculating depth information of the focusing area according to the depth extraction area; and S4, performing automatic focusing by the focusing camera according to the depth information. Through adoption of the method and the system, rapid and high-accuracy automatic focusing can be realized at any position in a target space.
Description
Technical field
The present invention relates to auto-focusing field, more particularly to one kind obtain depth information to realize certainly using depth camera
The method of dynamic focusing and camera system.
Background technology
Autofocus Technology is to realize the key that camera shoots high quality graphic, and Autofocus Technology is broadly divided into passive type
With active auto-focusing.Passive type auto-focusing is to be carried out using being focused the definition in image formed by image planes for the object
Focusing, usually, needs to be iterated through climbing method or gradient decline scheduling algorithm, that is, the adjusting focal length passing through each is straight
It is the most clearly to this method advantage is not need using other devices, and shortcoming is that focusing speed is slower to image.Main
Dynamic formula auto-focusing is to realize focusing according to the depth value being focused object distance camera lens, for the side of Measuring Object depth value
Method has laser ranging method, supersonic sounding method etc., and the advantage of this method is quickly carry out auto-focusing, and weak point exists
To fathom in the device needing extra.
With the increase of photographic head quantity in recent years, the appearance of such as dual camera, active Autofocus Technology goes out again
Show and calculated depth using binocular vision method and then realize focusing.It is true that due to binocular vision calculate depth algorithm relatively
For complexity, and precision it cannot be guaranteed that, thus this Autofocus Technology nor reach good effect.
The current active focusing technology based on depth camera, the acquisition for depth information is usually to obtain target
Just complete the acquisition of the depth information of all depth images before region, thus there is a problem in that, due to needing in advance
Depth information calculating carried out to entire image, and to store all of depth information, lead to current Autofocus Technology to calculate
Amount is very big, particularly, under the dynamic mode similar to photography etc., since it is desired that real-time ensuring image is clear, so
The process of focusing needs to run always, and minimum frame per second also want 20-30FPS at present, within the vision under each frame
Each pixel of image completes the acquisition of depth information it is clear that this amount of calculation is very big, if for higher frame per second, this
Amount of calculation will be bigger, so focusing speed will become very slow, the image definition directly resulting in shooting reduces.
In addition, the above-mentioned Autofocus Technology based on depth camera, due to computationally intensive, for multi-spot more
Can't bear the heavy load, so not enabling the function of multi-spot.
The disclosure of background above technology contents is only used for assisting the inventive concept understanding the present invention and technical scheme, and it is not
Necessarily belong to the prior art of present patent application, show the applying date in present patent application for the above there is no tangible proof
In the case of disclosed, above-mentioned background technology should not be taken to evaluate novelty and the creativeness of the application.
Content of the invention
Present invention aim at proposing a kind of Atomatic focusing method based on depth camera and system, above-mentioned existing to solve
Computationally intensive, auto-focusing that cannot be smooth very well the technical problem that what technology existed obtain depth information is improper to be led to.
For this reason, the present invention proposes a kind of Atomatic focusing method based on depth camera, comprise the following steps：
S1：Obtain the non-depth image of target area using zoom camera；
S2：Obtain the focusing area needing to focus in this non-depth image；
S3：Described depth camera, according to this focusing area, on the correspondence position of collection image, intercepts and only includes this focusing
The depth extraction region in region, only obtains the depth image in this depth extraction region using depth camera, according to this depth extraction
Region calculates the depth information of this focusing area；
S4：Auto-focusing is carried out by described zoom camera according to described depth information.
Preferably, the method that the present invention provides can also have following feature or step：
The size in described depth extraction region is more than the size of described focusing area.
In addition, in order to solve the problems, such as multi-spot, in step S2, this non-depth image includes one or more
Need focusing focusing area.
Meanwhile, for the problem of multi-spot, in step S3, described depth camera is according to this focusing area more than one
Domain, on the corresponding more than one position of collection image, the depth only including this focusing area intercepting corresponding number carries
Take region, obtain the depth image in each described depth extraction region using depth camera respectively, according to each described depth extraction area
Domain calculates multiple depth informations of each described focusing area, in step S4, passes through described zoom according to the plurality of depth information
Camera carries out auto-focusing.
For single-point focusing, in step S3, described depth camera according to this focusing area, in the correspondence position of collection image
On, intercept a depth extraction region only including this focusing area, only obtain this depth extraction region using depth camera
Depth image, calculates the depth information of this focusing area according to this depth extraction region.
In above-mentioned steps S3, comprise the following steps：
S31：Obtain the depth image in described depth extraction region using described depth camera；
S32：Described depth camera and described zoom camera are carried out registering, obtain each picture of focusing area in non-depth image
The depth value of element；
S33：Calculate the depth information in this region according to the depth value of each pixel of described focusing area.
After obtaining the depth value of each pixel in described focusing area, if focusing area is single pixel point, by this pixel
The depth value of point carries out auto-focusing directly as depth information；
If comprising multiple pixels in described focusing area, need for the depth value of multiple pixels to be fused into single depth
Value, obtains the single depth information in this region.
By depth value size distribution situation, the depth value choosing the pixel of intermediate distribution is average to do, thus it is right to obtain this
The single depth information in burnt region.
For dynamic object and static object, in step S2, described focusing area includes dynamic focusing region and static state is right
Burnt region, in step S3, the state according to described focusing area intercepts depth extraction region to the corresponding of collection image.
In addition the invention allows for a kind of autofocus system based on depth camera, using described in any of the above-described
Atomatic focusing method executes focusing, including depth camera unit, zoom camera unit, processor unit and controller unit,
Depth camera unit and zoom camera unit obtain the depth image of focusing area and non-depth image respectively；Processor list
Unit is for obtaining the depth information of the focusing area in non-depth image and this focusing area；Controller unit is used for according to depth
Degree information carries out auto-focusing to zoom camera.
The beneficial effect that the present invention is compared with the prior art includes：The Atomatic focusing method of the present invention is to obtain target area
The non-depth image in domain, and acquisition is just obtained deeply to using depth camera after needing the focusing area focused in non-depth image
Spend image, and be used for extracting the depth extraction region of depth image and only include the region that focusing area is located, intercept
On collection image, other regions in addition to focusing area, to obtain depth information with this, so believe compared to existing depth
Breath acquisition methods, on the one hand, pass through to obtain the first and second target images through a set of complexity in contrast to using binocular vision method
Algorithm to obtain depth value for, this method can be realized quick and high-precision automatically right to any position in object space
Jiao, better than the method for active auto-focusing at present, is better than the method based on the passive type auto-focusing such as laser ranging, separately simultaneously
On the one hand, the amount of calculation of auto-focusing substantially reduces, and need not all calculate whole depth informations in advance, the impact of frame per second is relatively
Little, even if based on frame per second higher in the case of, also can rapid focus, particularly, the present invention is more applicable for the fast of dynamic object
Speed focusing, implement focusing effect greatly improve so that the image shooting is relatively sharp, can smoothness auto-focusing.
Brief description
Fig. 1 is the system block diagram of the specific embodiment of the invention one；
Fig. 2 is autofocus system schematic diagram on mobile terminal in the specific embodiment of the invention one；
Fig. 3 is the flow chart of the specific embodiment of the invention two；
Fig. 4 is the flow chart of the specific embodiment of the invention three；
Fig. 5 is the light path schematic diagram of the specific embodiment of the invention two and three.
Fig. 6 is the non-depth image schematic diagram that in the specific embodiment of the invention two, zoom camera unit obtains.
Fig. 7 is that the depth image of the collection module acquisition of depth camera unit in the specific embodiment of the invention two is illustrated
Figure.
Fig. 8 is the schematic diagram of registration and auto-focusing in the specific embodiment of the invention two and three.
Fig. 9 is the specific embodiment of the invention two to defocused non-depth image.
Figure 10 is the non-depth image schematic diagram of the zoom camera unit acquisition of the specific embodiment of the invention three.
Figure 11 is that the depth image of the collection module acquisition of the depth camera unit of the specific embodiment of the invention three is illustrated
Figure.
Figure 12 is the specific embodiment of the invention three to defocused non-depth image.
Specific embodiment
With reference to specific embodiment and compare accompanying drawing the present invention is described in further detail.It is emphasized that
The description below is merely exemplary, rather than in order to limit the scope of the present invention and its application.
With reference to the following drawings, the embodiment of non-limiting and nonexcludability will be described, wherein identical reference represents
Identical part, unless stated otherwise.
Embodiment one：
The present embodiment proposes a kind of autofocus system based on depth camera, as shown in figure 1, including depth camera list
Unit 1, zoom camera unit 3, processor unit 2 and controller unit 4, depth camera unit 1 and 3 points of zoom camera unit
Huo Qu not the depth image of focusing area and non-depth image；Processor unit 2 is used for obtaining the focusing in non-depth image
Region and the depth information of this focusing area；Controller unit 4 is automatically right for being carried out to zoom camera according to depth information
Burnt.
In the present embodiment, depth camera unit 1 can be the depth camera based on structure light principle or based on TOF principle.
Depth camera based on structure light principle is typically made up of laser projections module and collection module 12, by projection
Module, to the encoded structured light patterns of object space projection, gathers the knot after module 12 collects by space object depth modulation
Structure light image, recycles trigonometric calculations to go out the actual grade value of each pixel in image.
Camera based on TOF principle is typically made up of transmitter module and receiver module, and wherein transmitter module connects to target 5
Supervention penetrates light pulse, and receives the record light pulse flight time in space after corresponding light pulse by receiver module,
Pass through the depth information that conversion obtains target object afterwards.
In the present embodiment, as shown in Fig. 2 being the mobile terminal A being provided with the depth camera based on structure light, throw including laser
Penetrate module and collection module 12 and zoom camera, three is in that yi word pattern arranges.
By imageing sensor, such as CCD or CMOS, and zoom lens forms zoom camera unit 3.In addition, in image
Can be realized photosensitive to light sources with different wavelengths, thus clapping between sensor and zoom lens by the different optical filters of increase
Take out the image of different colours.Such as, when not increasing optical filter or transparent filter, the image of shooting is black white image；When
During for Baeyer optical filter, shooting is color RGB image；When for infrared or ultraviolet filter, shooting is infrared or ultraviolet
Image；Can also be the combination of multiple optical filters, such as RGB-IR optical filter, comprise in the image now shooting red, blue, green and
Infrared information, can obtain RGB image and infrared image after interpolation.
Processor unit 2 is processed by the data that the combination of chip and application realizes camera is collected.
It should be noted that turning further for the data in depth camera unit 1 directly obtaining collection module 12 or receiver module
The process of chemical conversion depth data is also required to the process of processor, this processor can be in addition special chip it is also possible to by
Present processor unit 2 completes, and this technology is known technology, will no longer illustrate.
For this automatic focusing camera system, processor unit 2 is used for obtaining needs focusing in non-depth image
Region and the single depth information in this region.
Embodiment two：
In the present embodiment, as shown in figure 3, the autofocus system based on depth camera being proposed according to embodiment one, carry
Go out a kind of Atomatic focusing method based on depth camera, the present embodiment is mainly used in single-point focusing, can refer to light path Fig. 5.
First, S1, using zoom camera obtain target area non-depth image 8.
As shown in fig. 6, zoom camera obtains non-depth image 8, the target 5 in non-depth image 8 at this moment can be
State or static state, mainly depending on the mode of operation of camera.
Secondly, S2, obtain the focusing area 7 needing to focus in this non-depth image 8；
Usually, in non-depth image 8, moving object is often defaulted as needing the object of focusing, such as human or animal；?
Often by zone line focusing area 7 by default；Therefore, it is possible to arrange out the pixel region of acquiescence focusing by program.In addition,
Such as can also be touched by finger and obtain focusing area 7 by way of image-region by way of artificial actively selection.Selected
In region typically there is certain size and shape, equally can with program acquiescence or picking, such as square, circular etc., also may be used
To be a specifically pixel, it is not limited here.
In the present embodiment, under the pattern of single-point focusing, described non-depth image 8 includes the focusing area of a needs focusing
Domain 7, and described focusing area 7 includes dynamic focusing region and static focusing area, the state according to target obtains focusing area
7.
Secondly, as shown in fig. 7, S3, described depth camera are according to this focusing area, on the correspondence position of collection image 9,
Intercept a depth extraction region 6 only including this focusing area, only obtain the depth in this depth extraction region 6 using depth camera
Degree image, calculates the depth information of this focusing area according to this depth extraction region 6.
Due to only needing the depth information of focusing area, thus depth camera need not be allowed to obtain the depth map in whole space
Picture.But then, because depth camera and zoom camera are on different positions, specifically, can by depth camera with
Zoom camera be arranged in parallel it is also possible to be oppositely arranged at an angle, and this results in depth camera and zoom camera exists
Parallax, that is, the residing location of pixels on depth image with non-depth image 8 of the same space point differ.But in advance due to not knowing
Road each one-to-one relationship between pixel, thus be accomplished by obtaining the depth bigger than focusing area using depth camera and carry
Take the depth image in region 6 it is ensured that all pixels have corresponding depth value in depth extraction region 6 in focusing area.
Next, for the depth value obtaining each pixel in focusing area in non-depth image 8, needing first to depth camera and zoom phase
Machine carries out registration.
As shown in figure 8, registering, that is, utilize depth camera and zoom camera the outer ginseng of relative position relation composition and
The camera internal reference that each parameter forms, finds depth camera and each picture of zoom camera using pinhole camera model and trigonometry
The one-to-one relationship of element.Specifically registering principle is prior art, and here is not detailed.After registration, need in non-depth image 8
Want the depth value equal to respective pixel in depth image for the depth value of each pixel on focusing area.
Finally, S4, auto-focusing is carried out by described zoom camera according to described depth information.As shown in figure 8,10 is right
Burnt area image, 13 in Fig. 9 are the final non-depth image of single-point focusing.
After obtaining the depth value of each pixel in focusing area, if focusing area is single pixel point, the depth of this pixel
Value just can be used directly to carry out auto-focusing.If comprising multiple pixels in focusing area, need multiple pixels
Depth value is fused into single depth value.Preferably, the meansigma methodss taking the depth value of each pixel in this region are as this region
Single depth information；Further, in order to avoid respective pixel depth value is too big or too little thus in influence area focus object
Accurate depth, by depth value size distribution situation, the depth value choosing the pixel of intermediate distribution is average to do, thus being somebody's turn to do
The single depth information in region.Can also be obtained by additive method, be not limited thereto.
Need exist for illustrating, if wanting to realize the focusing in all pixels region in non-depth image it is necessary to obtain
The depth value of all pixels, requires the FOV of depth camera should be not less than the FOV of focusing camera for this.In one embodiment, depth
The camera lens of magazine receiving module is wide-angle lens, and the telephoto lens of the camera lens of focusing camera.So, described depth phase
The angle of visual field of machine is not less than the angle of visual field of zoom camera.
Controller unit is used for carrying out auto-focusing according to depth information to zoom camera.Need focusing area obtaining
Single depth information after, adjustment zoom camera camera lens focal length with meet to this depth focus on.Adjustment can be by advance
The program setting, to complete, specifically, has certain relation, by this relation with the shape of program between focal length size and depth size
Formula is saved in the storage of camera system, after getting single depth information, calculates the amount of adjustment according to program, then
Auto-focusing is realized by controller unit.Memory cell described here almost all exists in all of electronic equipment, all
For data storage, thus it is present in the system by acquiescence, be not described in detail in here.
The Atomatic focusing method of the present embodiment is in the non-depth image obtaining target area, and obtains in non-depth image
Just obtain depth image to using depth camera after taking the focusing area needing to focus, and be used for extracting the depth of depth image
Degree extracts the region that region 6 only includes focusing area place, has intercepted other areas in addition to focusing area on collection image 9
Domain, to obtain depth information with this, so compared to existing depth information acquisition method, on the one hand, in contrast to adopting binocular
, by obtaining the first and second target images for a set of complicated algorithm is to obtain depth value, this method is permissible for visual method
Any position in object space is realized with quick and high-precision auto-focusing, better than the method for active auto-focusing at present,
It is better than the method based on the passive type auto-focusing such as laser ranging, on the other hand, the amount of calculation of auto-focusing substantially reduces simultaneously,
Whole depth informations need not all be calculated in advance, the impact of frame per second is less, even if based on frame per second higher in the case of, also can
Rapid focus, particularly, the present invention is more applicable for the rapid focus of dynamic object, and the effect implementing focusing greatly improves, and makes
The image that must shoot is relatively sharp, auto-focusing that can be smooth.
Embodiment three：
In the present embodiment, as shown in figure 4, the autofocus system based on depth camera being proposed according to embodiment one, carry
Go out a kind of Atomatic focusing method based on depth camera, with the difference of embodiment two, the present embodiment is that the present embodiment is main
For multi-spot.
As shown in Figure 10, first, S1, using zoom camera obtain target area non-depth image 14.
Zoom camera obtains non-depth image, the target in non-depth image at this moment can be dynamic or
Static, mainly depending on the mode of operation of camera.
Secondly, S2, obtain the focusing area needing to focus in this non-depth image 14；
Usually, in non-depth image, moving object is often defaulted as needing the object of focusing, such as human or animal；Also normal
By zone line focusing area by default；Therefore, it is possible to arrange out the pixel region of acquiescence focusing by program.In addition,
Such as can be touched by finger and obtain focusing area by way of image-region by way of artificial actively selection.Selected
Region typically there is certain size and shape, equally can with program acquiescence or picking, such as square, circular etc. it is also possible to
It is a specifically pixel, be not limited here.
In the present embodiment, under the pattern of multi-spot, described non-depth image includes the right of more than one needs focusing
Burnt region, described focusing area also can be divided into dynamic focusing region and static focusing area, and the state according to target obtains focusing
Region.
Secondly, as shown in figure 11, S3, described depth camera, according to this focusing area more than one, are gathering image 9
On corresponding more than one position, intercept the depth extraction region only including this focusing area of corresponding number, using depth
Camera obtains the depth image 15 in each described depth extraction region respectively, and it is each described right to be calculated according to each described depth extraction region
Multiple depth informations in burnt region.
Due to only needing the depth information of focusing area, thus depth camera need not be allowed to obtain the depth map in whole space
Picture.But then, because depth camera and zoom camera are on different positions, specifically, can by depth camera with
Zoom camera be arranged in parallel it is also possible to be oppositely arranged at an angle, and this results in depth camera and zoom camera exists
Parallax, that is, the residing location of pixels on depth image with non-depth image of the same space point differ.But in advance due to not knowing
Road each one-to-one relationship between pixel, thus be accomplished by obtaining the depth bigger than focusing area using depth camera and carry
Take the depth image in region it is ensured that all pixels have corresponding depth value in depth extraction region in focusing area.Connect
Get off, in order to obtain the depth value of each pixel in focusing area in non-depth image, need first to depth camera and zoom camera
Carry out registration.
Registration, is each joined using the outer ginseng and camera of the relative position relation composition of depth camera and zoom camera
The internal reference that array becomes, find depth camera and each pixel of zoom camera using pinhole camera model and trigonometry one a pair
Should be related to.Specifically registering principle is prior art, and here is not detailed.After registration, in non-depth image, need focusing area
The depth value of upper each pixel is equal to the depth value of respective pixel in depth image.
Finally, S4, auto-focusing is carried out by described zoom camera according to the plurality of depth information.As shown in figure 12,
16 is the final non-depth image of multi-spot.
After obtaining the depth value of each pixel in focusing area, if focusing area is single pixel point, the depth of this pixel
Value just can be used directly to carry out auto-focusing.If comprising multiple pixels in focusing area, need multiple pixels
Depth value is fused into single depth value.Preferably, the meansigma methodss taking the depth value of each pixel in this region are as this region
Single depth information；Further, in order to avoid respective pixel depth value is too big or too little thus in influence area focus object
Accurate depth, by depth value size distribution situation, the depth value choosing the pixel of intermediate distribution is average to do, thus being somebody's turn to do
The single depth information in region.Can also be obtained by additive method, be not limited thereto.
Need exist for illustrating, if wanting to realize the focusing in all pixels region in non-depth image it is necessary to obtain
The depth value of all pixels, requires the FOV of depth camera should be not less than the FOV (angle of visual field) of focusing camera for this.One enforcement
In example, the camera lens of the receiving module in depth camera is wide-angle lens, and the telephoto lens of the camera lens of focusing camera.So, institute
The angle of visual field of the depth camera stated is not less than the angle of visual field of zoom camera.
Controller unit is used for carrying out auto-focusing according to depth information to zoom camera.Need focusing area obtaining
Single depth information after, adjustment zoom camera camera lens focal length with meet to this depth focus on.Adjustment can be by advance
The program setting, to complete, specifically, has certain relation, by this relation with the shape of program between focal length size and depth size
Formula is saved in the storage of camera system, after getting single depth information, calculates the amount of adjustment according to program, then
Auto-focusing is realized by controller unit.Memory cell described here almost all exists in all of electronic equipment, all
For data storage, thus it is present in the system by acquiescence, be not described in detail in here.
In this enforcement, due to using be intercept after the depth information in depth extraction region carry out auto-focusing, so
Can realize carrying out the possibility of multi-spot using depth camera, during focusing, due to only obtaining more than one
Focusing area more than one depth image, the region beyond focusing area do not carry out the acquisition of depth value, even if so
It is that multiple points are carried out with auto-focusing amount of calculation is also smaller, the quick calculating under current frame rate can be met, and then submit to real
Existing rapid focus, and the current Atomatic focusing method based on depth camera, general, it is by depth whole for target area
Image obtains in advance, and all of depth information is realized storage, can not quickly find focusing for multi-spot accurately
The depth information in region, especially under dynamic mode, because focus process is being carried out always, so, realize quickly
Multi-spot is even more impossible, and general frame per second also has 20-30FPS in addition, thus big the thinking of amount of calculation of multi-spot and
Know.
Using the depth information of the present embodiment acquisition method it is achieved that multiple spot auto-focusing based on depth camera can
Can, focusing speed is fast in addition, and amount of calculation is little, has significantly heightened focusing speed and practicality.
It would be recognized by those skilled in the art that above description is made with numerous accommodations is possible, so embodiment is only
It is used for describing one or more particular implementation.
Although having been described above and describe the example embodiment being counted as the present invention, it will be apparent to those skilled in the art that
It can be variously modified and replace, without departing from the spirit of the present invention.Furthermore it is possible to make many modifications with by spy
Condition of pledging love is fitted to the religious doctrine of the present invention, without departing from invention described herein central concept.So, the present invention is unrestricted
In specific embodiment disclosed here, but the present invention may also include belonging to all embodiments of the scope of the invention and its be equal to
Thing.
Claims (10)
1. a kind of Atomatic focusing method based on depth camera is it is characterised in that comprise the following steps：
S1：Obtain the non-depth image of target area using zoom camera；
S2：Obtain the focusing area needing to focus in this non-depth image；
S3：Described depth camera, according to this focusing area, on the correspondence position of collection image, intercepts and only includes this focusing area
Depth extraction region, only obtain the depth image in this depth extraction region using depth camera, according to this depth extraction region
Calculate the depth information of this focusing area；
S4：Auto-focusing is carried out by described zoom camera according to described depth information.
2. Atomatic focusing method as claimed in claim 1 it is characterised in that：The size in described depth extraction region is more than described
The size of focusing area.
3. Atomatic focusing method as claimed in claim 1 it is characterised in that：In step S2, this non-depth image includes one
The individual or more than one focusing area needing focusing.
4. Atomatic focusing method as claimed in claim 3 it is characterised in that：In step S3, described depth camera is according to one
This above focusing area, on the corresponding more than one position of collection image, intercept corresponding number only to include this right
The depth extraction region in burnt region, obtains the depth image in each described depth extraction region respectively, according to each using depth camera
Described depth extraction region calculates multiple depth informations of each described focusing area, in step S4, is believed according to the plurality of depth
Breath carries out auto-focusing by described zoom camera.
5. Atomatic focusing method as claimed in claim 3 it is characterised in that：In step S3, described depth camera is right according to this
Burnt region, on the correspondence position of collection image, intercepts a depth extraction region only including this focusing area, using depth
Camera only obtains the depth image in this depth extraction region, calculates the depth letter of this focusing area according to this depth extraction region
Breath.
6. the Atomatic focusing method as described in any one of claim 1-5 it is characterised in that：In step S3, comprise the following steps：
S31：Obtain the depth image in described depth extraction region using described depth camera；
S32：Described depth camera and described zoom camera are carried out registering, obtain each pixel of focusing area in non-depth image
Depth value；
S33：Calculate the depth information in this region according to the depth value of each pixel of described focusing area.
7. Atomatic focusing method as claimed in claim 6 it is characterised in that：Obtain the depth of each pixel in described focusing area
After value, if focusing area is single pixel point, the depth value of this pixel is carried out auto-focusing directly as depth information；
If comprising multiple pixels in described focusing area, need for the depth value of multiple pixels to be fused into single depth value,
Obtain the single depth information in this region.
8. Atomatic focusing method as claimed in claim 6 it is characterised in that：By depth value size distribution situation, choose middle
The depth value of the pixel of distribution is average to do, thus obtaining the single depth information of this focusing area.
9. Atomatic focusing method as claimed in claim 1 it is characterised in that：In step S2, described focusing area includes dynamically
Focusing area and static focusing area, in step S3, the state according to described focusing area is deep to the corresponding intercepting of collection image
Degree extracts region.
10. a kind of autofocus system based on depth camera it is characterised in that：Using described in any one of claim 1-9
Atomatic focusing method executes focusing, including depth camera unit, zoom camera unit, processor unit and controller unit,
Depth camera unit and zoom camera unit obtain the depth image of focusing area and non-depth image respectively；Processor list
Unit is for obtaining the depth information of the focusing area in non-depth image and this focusing area；Controller unit is used for according to depth
Degree information carries out auto-focusing to zoom camera.
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