WO2021147753A1

WO2021147753A1 - 3d photographing method and apparatus, and 3d display terminal

Info

Publication number: WO2021147753A1
Application number: PCT/CN2021/071701
Authority: WO
Inventors: 刁鸿浩; 黄玲溪
Original assignee: 北京芯海视界三维科技有限公司; 视觉技术创投私人有限公司
Priority date: 2020-01-20
Filing date: 2021-01-14
Publication date: 2021-07-29
Also published as: CN113141496A; TW202130168A

Abstract

The present application provides a 3D photographing method. Said method comprises: coordinating at least two depth-of-field cameras in a depth-of-field camera module, so as to acquire first depth-of-field information of a photographed object; and acquiring, by means of at least two color cameras in a color camera module, a color image of the photographed object, which can be adjusted according to the first depth-of-field information. The 3D photographing method can effectively improve the depth-of-field accuracy of color images. The present application further provides a 3D photographing apparatus, a 3D display terminal, a computer-readable storage medium, and a computer program product.

Description

3D拍摄方法、装置及3D显示终端3D shooting method, device and 3D display terminal

本申请要求在2020年01月20日提交中国知识产权局、申请号为202010072955.3、发明名称为“3D拍摄方法、装置及3D显示终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the China Intellectual Property Office with an application number of 202010072955.3 and an invention title of "3D shooting method, device and 3D display terminal" on January 20, 2020, the entire content of which is incorporated by reference In this application.

技术领域Technical field

本申请涉及3D技术领域，例如涉及一种3D拍摄方法、装置及3D显示终端。This application relates to the field of 3D technology, for example, to a 3D shooting method, device, and 3D display terminal.

背景技术Background technique

目前，有些终端上设置有两个不同类型的摄像头，以获取拍摄对象的景深信息用于3D显示。Currently, some terminals are equipped with two different types of cameras to obtain depth information of the subject for 3D display.

在实现本公开实施例的过程中，发现相关技术中至少存在如下问题：In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related technology:

仅通过两个摄像头获取的景深信息的准确度较低。The accuracy of depth information obtained by only two cameras is low.

发明内容Summary of the invention

为了对披露的实施例的一些方面有基本的理解，下面给出了简单的概括。该概括不是泛泛评述，也不是要确定关键/重要组成元素或描绘这些实施例的保护范围，而是作为后面的详细说明的序言。In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not a general comment, nor is it intended to determine key/important components or describe the scope of protection of these embodiments, but serves as a prelude to the detailed description that follows.

本公开实施例提供了一种3D拍摄方法、装置及3D显示终端、计算机可读存储介质、计算机程序产品，以解决仅通过两个摄像头获取的景深信息的准确度较低的技术问题。The embodiments of the present disclosure provide a 3D shooting method, device, and 3D display terminal, computer readable storage medium, and computer program product to solve the technical problem of low accuracy of depth information acquired by only two cameras.

本公开实施例提供的3D拍摄方法，适用于包括至少两个景深摄像头的景深摄像头模组，以及包括至少两个彩色摄像头的彩色摄像头模组，该3D拍摄方法包括：The 3D shooting method provided by the embodiments of the present disclosure is applicable to a depth camera module including at least two depth cameras and a color camera module including at least two color cameras. The 3D shooting method includes:

协调景深摄像头模组中的至少两个景深摄像头以获取拍摄对象的第一景深信息，通过彩色摄像头模组中的至少两个彩色摄像头获取能够根据第一景深信息调整的拍摄对象的彩色图像。At least two depth cameras in the depth camera module are coordinated to obtain first depth information of the subject, and color images of the subject that can be adjusted according to the first depth information are acquired through the at least two color cameras in the color camera module.

在一些实施例中，还可以根据第一景深信息调整彩色图像中的第二景深信息。In some embodiments, the second depth information in the color image can also be adjusted according to the first depth information.

在一些实施例中，还可以对调整后的彩色图像进行3D显示。In some embodiments, the adjusted color image can also be displayed in 3D.

在一些实施例中，根据第一景深信息调整彩色图像中的第二景深信息，可以包括：In some embodiments, adjusting the second depth of field information in the color image according to the first depth of field information may include:

以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素的景深，使第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深靠近。Using the depth of field of the pixels included in the first depth of field information as a reference, adjust the depth of field of the corresponding pixel included in the second depth of field information so that the depth of field of the corresponding pixel included in the second depth of field information is toward the depth of field of the pixel included in the first depth of field information near.

在一些实施例中，以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素的景深，可以包括：In some embodiments, using the depth of field of the pixel included in the first depth of field information as a reference, adjusting the depth of field of the corresponding pixel included in the second depth of field information may include:

将第二景深信息中包括的对应像素的景深按比例向第一景深信息中包括的像素的景深调整；或，Adjust the depth of field of the corresponding pixel included in the second depth information to the depth of field of the pixel included in the first depth information in proportion; or,

将第二景深信息中包括的对应像素的景深，调整为第一景深信息中包括的像素的景深。The depth of field of the corresponding pixel included in the second depth of field information is adjusted to the depth of field of the pixel included in the first depth of field information.

在一些实施例中，还可以以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素以外的像素的景深。In some embodiments, the depth of field of pixels included in the first depth of field information may also be used as a reference to adjust the depth of field of pixels other than the corresponding pixels included in the second depth of field information.

在一些实施例中，以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素以外的像素的景深，可以包括：In some embodiments, using the depth of field of the pixels included in the first depth of field information as a reference, adjusting the depth of field of pixels other than the corresponding pixels included in the second depth of field information may include:

在预设区域中，将第二景深信息中包括的对应像素以外的像素的景深按比例向第一景深信息中包括的像素的景深调整；或，In the preset area, adjust the depth of field of pixels other than the corresponding pixels included in the second depth information to the depth of field of the pixels included in the first depth information in proportion; or,

在预设区域中，将第二景深信息中包括的对应像素以外的像素的景深，调整为第一景深信息中包括的像素的景深。In the preset area, the depth of field of pixels other than the corresponding pixels included in the second depth of field information is adjusted to the depth of field of the pixels included in the first depth of field information.

在一些实施例中，协调景深摄像头模组中的至少两个景深摄像头以获取第一景深信息，可以包括：In some embodiments, coordinating at least two depth-of-field cameras in the depth-of-field camera module to obtain the first depth-of-field information may include:

选择景深摄像头模组中的一个景深摄像头获取拍摄对象的景深信息，将获取的拍摄对象的景深信息作为第一景深信息；或Select a depth-of-field camera in the depth-of-field camera module to obtain the depth information of the subject, and use the obtained depth information of the subject as the first depth information; or

选择景深摄像头模组中的至少两个景深摄像头分别获取拍摄对象的景深信息，选择至少两个景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息；或Select at least two depth cameras in the depth camera module to obtain the depth information of the subject respectively, and select the depth information of the subject obtained by one of the at least two depth cameras as the first depth information; or

选择景深摄像头模组中的所有景深摄像头分别获取拍摄对象的景深信息，选择所有景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息。Select all the depth cameras in the depth camera module to obtain the depth information of the subject respectively, and select the depth information of the subject obtained by one of the depth cameras of all the depth cameras as the first depth information.

在一些实施例中，选择至少两个景深摄像头中的一个景深摄像头，可以包括：选择至少两个景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择至少两个景深摄像头中获取景深信息的准确度最高的一个景深摄像头。In some embodiments, selecting one of the at least two depth cameras may include: selecting one of the at least two depth cameras in the best working state; or selecting the at least two depth cameras to obtain depth information A depth-of-field camera with the highest accuracy.

在一些实施例中，选择至少两个景深摄像头中的一个景深摄像头，可以包括：In some embodiments, selecting one of the at least two depth cameras may include:

选择所有景深摄像头中的一个景深摄像头，包括：选择所有景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所有景深摄像头中获取景深信息的准确度最高的一个景深摄像头。Selecting a depth camera among all depth cameras includes: selecting a depth camera in the best working state among all depth cameras; or, selecting a depth camera with the highest accuracy of acquiring depth information among all depth cameras.

在一些实施例中，通过至少两个彩色摄像头获取拍摄对象的彩色图像，可以包括：In some embodiments, acquiring a color image of the subject through at least two color cameras may include:

通过第一彩色摄像头获取第一彩色图像，还通过第二彩色摄像头获取第二彩色图像；Acquiring a first color image through a first color camera, and also acquiring a second color image through a second color camera;

根据第一彩色摄像头与第二彩色摄像头的间距和拍摄角度，将第一彩色图像与第二彩色图像合成为包含第二景深信息的彩色合成图像。According to the distance between the first color camera and the second color camera and the shooting angle, the first color image and the second color image are synthesized into a color synthesized image containing the second depth of field information.

在一些实施例中，彩色合成图像可以包括左半幅图像、右半幅图像；In some embodiments, the color composite image may include the left half of the image and the right half of the image;

其中，左半幅图像可以为彩色图像，右半幅图像可以为景深图像。Among them, the left half of the image may be a color image, and the right half of the image may be a depth image.

本公开实施例提供的3D拍摄装置，包括处理器和存储有程序指令的存储器；处理器被配置为在执行程序指令时，执行上述的3D拍摄方法。The 3D photographing device provided by the embodiment of the present disclosure includes a processor and a memory storing program instructions; the processor is configured to execute the above-mentioned 3D photographing method when the program instructions are executed.

本公开实施例提供的3D拍摄装置，包括：The 3D photographing device provided by the embodiment of the present disclosure includes:

景深摄像头模组，包括至少两个景深摄像头，被配置为通过协调至少两个景深摄像头获取拍摄对象的第一景深信息；The depth-of-field camera module includes at least two depth-of-field cameras, and is configured to obtain first depth-of-field information of the subject by coordinating the at least two depth-of-field cameras;

彩色摄像头模组，包括至少两个彩色摄像头，被配置为获取能够根据第一景深信息调整的拍摄对象的彩色图像。The color camera module includes at least two color cameras, and is configured to obtain a color image of a photographed object that can be adjusted according to the first depth of field information.

在一些实施例中，还可以包括：图像处理器，被配置为根据第一景深信息调整彩色图像中的第二景深信息。In some embodiments, it may further include: an image processor configured to adjust the second depth information in the color image according to the first depth information.

在一些实施例中，图像处理器，还可以被配置为：对调整后的彩色图像进行3D显示。In some embodiments, the image processor may also be configured to display the adjusted color image in 3D.

在一些实施例中，图像处理器，可以被配置为：In some embodiments, the image processor may be configured as:

在一些实施例中，图像处理器，还可以被配置为：以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素以外的像素的景深。In some embodiments, the image processor may be further configured to adjust the depth of field of pixels other than the corresponding pixels included in the second depth information based on the depth of field of the pixels included in the first depth information.

在一些实施例中，景深摄像头模组，可以被配置为：In some embodiments, the depth-of-field camera module may be configured as:

在选择至少两个景深摄像头中的一个景深摄像头的情况下，选择至少两个景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择至少两个景深摄像头中获取景深信息的准确度最高的一个景深摄像头；In the case of selecting one of at least two depth-of-field cameras, select one of the at least two depth-of-field cameras that is in the best working state; or, select the one with the highest accuracy of obtaining depth-of-field information among at least two depth-of-field cameras A depth-of-field camera;

或，or,

在选择所有景深摄像头中的一个景深摄像头的情况下，选择所有景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所有景深摄像头中获取景深信息的准确度最高的一个景深摄像头。In the case of selecting a depth camera among all depth cameras, select a depth camera in the best working state among all depth cameras; or, select a depth camera with the highest accuracy of acquiring depth information among all depth cameras.

在一些实施例中，景深摄像头模组中的至少一个景深摄像头可以为结构光摄像头或飞行时间(TOF)摄像头。In some embodiments, at least one depth camera in the depth camera module may be a structured light camera or a time-of-flight (TOF) camera.

在一些实施例中，景深摄像头模组中的至少一个景深摄像头可以为TOF摄像头，TOF摄像头可以位于彩色摄像头模组中的两个彩色摄像头之间。In some embodiments, at least one depth camera in the depth camera module may be a TOF camera, and the TOF camera may be located between two color cameras in the color camera module.

在一些实施例中，彩色摄像头模组，可以包括：In some embodiments, the color camera module may include:

第一彩色摄像头，被配置为获取第一彩色图像；The first color camera is configured to obtain a first color image;

第二彩色摄像头，被配置为获取第二彩色图像；The second color camera is configured to obtain a second color image;

可选地，图像处理器，可以被配置为：Optionally, the image processor may be configured as:

在一些实施例中，彩色摄像头模组中的至少两个彩色摄像头可以采用性能指标相同的光学镜头和传感器芯片。In some embodiments, at least two color cameras in the color camera module may use optical lenses and sensor chips with the same performance indicators.

本公开实施例提供的3D显示终端，包括上述的3D拍摄装置。The 3D display terminal provided by the embodiment of the present disclosure includes the above-mentioned 3D photographing device.

本公开实施例提供的计算机可读存储介质，存储有计算机可执行指令，计算机可执行指令设置为执行上述的3D拍摄方法。The computer-readable storage medium provided by the embodiment of the present disclosure stores computer-executable instructions, and the computer-executable instructions are set to execute the above-mentioned 3D shooting method.

本公开实施例提供的计算机程序产品，包括存储在计算机可读存储介质上的计算机程序，计算机程序包括程序指令，当该程序指令被计算机执行时，使计算机执行上述的3D拍摄方法。The computer program product provided by the embodiments of the present disclosure includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the above-mentioned 3D shooting method.

本公开实施例提供的3D拍摄方法、装置及3D显示终端、计算机可读存储介质、计算机程序产品，可以实现以下技术效果：The 3D shooting method, device, 3D display terminal, computer readable storage medium, and computer program product provided by the embodiments of the present disclosure can achieve the following technical effects:

能够协调景深摄像头模组中的至少两个景深摄像头以对彩色摄像头模组所获取的彩色图像进行景深调整，能够有效提高彩色图像的景深准确度。It can coordinate at least two depth cameras in the depth camera module to adjust the depth of field of the color image acquired by the color camera module, which can effectively improve the depth accuracy of the color image.

以上的总体描述和下文中的描述仅是示例性和解释性的，不用于限制本申请。The above general description and the following description are only exemplary and explanatory, and are not used to limit the application.

附图说明Description of the drawings

一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明和附图并不构成对实施例的限定，附图中具有相同参考数字标号的元件示为类似的元件，附图不构成比例限制，并且其中：One or more embodiments are exemplified by the accompanying drawings. These exemplified descriptions and drawings do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation, and among them:

图1是本公开实施例提供的3D拍摄方法流程图；FIG. 1 is a flowchart of a 3D shooting method provided by an embodiment of the present disclosure;

图2A、图2B、图2C分别是本公开实施例提供的又一3D拍摄方法流程图；2A, 2B, and 2C are respectively a flowchart of another 3D shooting method provided by an embodiment of the present disclosure;

图3是本公开实施例提供的又一3D拍摄方法流程图；FIG. 3 is a flowchart of another 3D shooting method provided by an embodiment of the present disclosure;

图4是本公开实施例提供的3D拍摄装置结构图；FIG. 4 is a structural diagram of a 3D photographing device provided by an embodiment of the present disclosure;

图5是本公开实施例提供的又一3D拍摄装置结构图；FIG. 5 is a structural diagram of another 3D photographing device provided by an embodiment of the present disclosure;

图6是本公开实施例提供的又一3D拍摄装置结构图；FIG. 6 is a structural diagram of another 3D photographing device provided by an embodiment of the present disclosure;

图7是本公开实施例提供的又一3D拍摄装置结构图；FIG. 7 is a structural diagram of another 3D photographing device provided by an embodiment of the present disclosure;

图8是本公开实施例提供的又一3D拍摄装置结构图；FIG. 8 is a structural diagram of another 3D photographing device provided by an embodiment of the present disclosure;

图9是本公开实施例提供的3D显示终端的装置结构图。FIG. 9 is a device structure diagram of a 3D display terminal provided by an embodiment of the present disclosure.

附图标记：Reference signs:

300：3D拍摄装置；310：处理器；320：存储器；330：通信接口；340：总线；410：景深摄像头模组；411：第一景深摄像头；412：第二景深摄像头；420：彩色摄像头模组；421：第一彩色摄像头；422：第二彩色摄像头；430：图像处理器；500：3D显示终端。300: 3D camera; 310: processor; 320: memory; 330: communication interface; 340: bus; 410: depth-of-field camera module; 411: first depth-of-field camera; 412: second depth-of-field camera; 420: color camera module Group; 421: first color camera; 422: second color camera; 430: image processor; 500: 3D display terminal.

具体实施方式Detailed ways

为了能够更加详尽地了解本公开实施例的特点与技术内容，下面结合附图对本公开实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本公开实施例。在以下的技术描述中，为方便解释起见，通过多个细节以提供对所披露实施例的充分理解。然而，在没有这些细节的情况下，一个或多个实施例仍然可以实施。在其它情况下，为简化附图，熟知的结构和装置可以简化展示。In order to have a more detailed understanding of the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a number of details are used to provide a sufficient understanding of the disclosed embodiments. However, without these details, one or more embodiments can still be implemented. In other cases, in order to simplify the drawings, well-known structures and devices may be simplified for display.

参见图1，本公开实施例提供了一种3D拍摄方法，适用于包括至少两个景深摄像头的景深摄像头模组，以及包括至少两个彩色摄像头的彩色摄像头模组，该方法包括：1, an embodiment of the present disclosure provides a 3D shooting method, which is suitable for a depth camera module including at least two depth cameras, and a color camera module including at least two color cameras, the method includes:

S110：协调景深摄像头模组中的至少两个景深摄像头，以获取拍摄对象的第一景深信息；S110: Coordinate at least two depth-of-field cameras in the depth-of-field camera module to obtain first depth-of-field information of the subject;

S120：通过彩色摄像头模组中的至少两个彩色摄像头获取能够根据第一景深信息调整的拍摄对象的彩色图像。S120: Acquire a color image of the shooting object that can be adjusted according to the first depth of field information through at least two color cameras in the color camera module.

在一些实施例中，3D拍摄方法还可以包括：根据第一景深信息调整彩色图像中的第二景深信息。In some embodiments, the 3D shooting method may further include: adjusting the second depth information in the color image according to the first depth information.

在一些实施例中，还可以对调整后的彩色图像进行3D显示。可行的3D显示方式多种多样，在此不再赘述，只要能够对景深调整后的彩色图像顺利实现3D显示即可。In some embodiments, the adjusted color image can also be displayed in 3D. There are many possible 3D display methods, which will not be repeated here, as long as the color image after the depth of field adjustment can be smoothly displayed in 3D.

以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素的景深，使第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深靠近，以缩小第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值。Using the depth of field of the pixels included in the first depth of field information as a reference, adjust the depth of field of the corresponding pixel included in the second depth of field information so that the depth of field of the corresponding pixel included in the second depth of field information is toward the depth of field of the pixel included in the first depth of field information Approaching to reduce the difference between the depth of field of the corresponding pixel included in the second depth information and the depth of field of the pixel included in the first depth information.

相比较而言，上述至少两个彩色摄像头获取的彩色图像的分辨率高、景深准确性低，而景深摄像头获取的第一景深信息(可以以景深图像的形式呈现)的分辨率低、景深准确性高。因此，可以以第一景深信息中包括的像素的景深为基准对第二景深信息中包括的对应像素的景深进行调整，这样就可以使第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深靠近，以缩小第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，有效提高了第二景深信息中包括的对应像素的景深的准确性。In comparison, the color images acquired by the above-mentioned at least two color cameras have high resolution and low depth of field accuracy, while the first depth of field information (which can be presented in the form of depth images) acquired by the depth camera has low resolution and accurate depth of field. High sex. Therefore, the depth of field of the corresponding pixel included in the second depth of field information can be adjusted based on the depth of field of the pixel included in the first depth of field information, so that the depth of field of the corresponding pixel included in the second depth of field information can be adjusted to the first depth of field. The depth of field of the pixels included in the information is close to reduce the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information, effectively improving the correspondence included in the second depth of field information The accuracy of the pixel depth of field.

在一些实施例中，以第一景深信息(景深图像)中包括的像素的景深为基准，调整第二景深信息中包括的对应像素的景深之前，可以先统一景深图像和彩色图像的大小；之后，基于景深摄像头和彩色摄像头之间的视场角(FOV)对景深图像和彩色图像进行特征值抓取和匹配，以便以像素为单位将景深图像中的像素对应到彩色图像中的对应像素上；这样，就可以将景深图像中的像素的景深与彩色图像中的对应像素的景深进行比较，并根据比较结果进行景深调整。In some embodiments, based on the depth of field of the pixels included in the first depth information (depth image), before adjusting the depth of field of the corresponding pixel included in the second depth information, the sizes of the depth image and the color image may be unified; , Based on the field of view (FOV) between the depth camera and the color camera to capture and match the feature value of the depth image and the color image, so that the pixels in the depth image are mapped to the corresponding pixels in the color image in pixel units ; In this way, the depth of field of the pixel in the depth image can be compared with the depth of field of the corresponding pixel in the color image, and the depth of field can be adjusted according to the comparison result.

在一些实施例中，可以基于第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，将第二景深信息中包括的对应像素的景深按该差值的一定比例向第一景深信息中包括的像素的景深调整。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，可以根据实际情况或预设策略等操作方式将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm的10％、20％、30％、50％、80％等数值，即：调整5mm、1cm、1.5cm、2.5cm、4cm等数值。In some embodiments, based on the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information, the depth of field of the corresponding pixel included in the second depth of field information may be pressed as A certain ratio of the difference is adjusted to the depth of field of the pixels included in the first depth of field information. For example: the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5cm, and the second depth of field information can be included in the second depth of field information according to actual conditions or preset strategies. The depth of field of the corresponding pixel is adjusted to the depth of field of the pixel included in the first depth of field information by 10%, 20%, 30%, 50%, 80% and other values of 5cm, namely: adjust 5mm, 1cm, 1.5cm, 2.5cm, 4cm Equal value.

在一些实施例中，也可以将第二景深信息中包括的对应像素的景深直接调整为第一景深信息中包括的像素的景深。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，可以根据实际情况或预设策略等操作方式直接将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm。In some embodiments, the depth of field of the corresponding pixel included in the second depth of field information may also be directly adjusted to the depth of field of the pixel included in the first depth of field information. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the second depth of field information can be directly included in the second depth of field information according to actual conditions or preset strategies. The depth of field of the included corresponding pixel is adjusted by 5 cm to the depth of field of the pixel included in the first depth of field information.

进行上述的景深调整时，由于景深摄像头获取的第一景深信息的分辨率低，因此景深图像中的全部像素可能只对应到彩色合成图像中的部分像素，导致第二景深信息中包括的对应像素以外的部分或全部像素的景深可能无法得到有效调整。在这种情况下，在一些实施例中，3D拍摄方法还可以包括：以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素以外的像素的景深，以便对第二景深信息中包括的对应像素以外的像素的景深进行有效调整，以有效提高景深准确度。When performing the above-mentioned depth adjustment, since the resolution of the first depth information acquired by the depth camera is low, all pixels in the depth image may only correspond to some pixels in the color composite image, resulting in the corresponding pixels included in the second depth information The depth of field of some or all other pixels may not be adjusted effectively. In this case, in some embodiments, the 3D shooting method may further include: using the depth of field of the pixels included in the first depth of field information as a reference, adjusting the depth of field of pixels other than the corresponding pixels included in the second depth of field information so that Effectively adjust the depth of field of pixels other than the corresponding pixels included in the second depth information to effectively improve the accuracy of the depth of field.

在一些实施例中，预设区域可以根据实际情况或预设策略等操作方式进行设定。可选地，预设区域可以包括第二景深信息中的单个对应像素以及该单个对应像素周围的非对应像素(即：第二景深信息中没有与第一景深信息中的像素对应上的像素)，例如：预设区域可以是以上述的单个对应像素为圆心，以与临近的另一个单个对应像素之间的距离的一半等其它值为半径所形成的圆形区域。可选地，不同的预设区域之间可以没有重叠，以避免可能出现的像素调整冲突。In some embodiments, the preset area may be set according to actual conditions or operation modes such as preset strategies. Optionally, the preset area may include a single corresponding pixel in the second depth information and non-corresponding pixels around the single corresponding pixel (that is, there are no pixels in the second depth information that correspond to the pixels in the first depth information) For example, the preset area may be a circular area formed by the above-mentioned single corresponding pixel as the center of the circle, and other values such as a radius of half of the distance from another adjacent single corresponding pixel. Optionally, there may be no overlap between different preset areas to avoid possible pixel adjustment conflicts.

可选地，预设区域也可以包括第二景深信息中的至少两个对应像素以及这两个对应像素周围的非对应像素，例如：对上述的至少两个对应像素进行的景深调整量相同时，预设区域可以是以上述的两个对应像素的中间点为圆心，以上述的两个对应像素之间的距离的一半等更大值为半径所形成的圆形区域。可选地，不同的预设区域之间可以具有重叠，只要能够避免可能出现的像素调整冲突即可。Optionally, the preset area may also include at least two corresponding pixels in the second depth information and non-corresponding pixels around the two corresponding pixels. For example, when the depth adjustment amount of the at least two corresponding pixels is the same The preset area may be a circular area formed by taking the middle point of the aforementioned two corresponding pixels as the center, and taking a larger value such as a half of the distance between the aforementioned two corresponding pixels as a radius. Optionally, there may be overlaps between different preset areas, as long as possible pixel adjustment conflicts can be avoided.

可选地，预设区域的大小和形状也可以根据实际情况或预设策略等操作方式而有所不同，例如：预设区域的大小可以按比例扩大或缩小，预设区域的形状可以是椭圆形、多边形等。Optionally, the size and shape of the preset area can also be different according to actual conditions or operation methods such as preset strategies. For example, the size of the preset area can be scaled up or down, and the shape of the preset area can be an ellipse. Shapes, polygons, etc.

在一些实施例中，在预设区域中进行景深调整时，可以基于第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，将第二景深信息中包括的对应像素的景深按该差值的一定比例向第一景深信息中包括的像素的景深调整。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，可以根据实际情况或预设策略等操作方式将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm的10％、20％、30％、50％、80％等数值，即：调整5mm、1cm、1.5cm、2.5cm、4cm等数值。In some embodiments, when the depth of field is adjusted in the preset area, the second depth of field may be adjusted based on the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information. The depth of field of the corresponding pixel included in the information is adjusted to the depth of field of the pixel included in the first depth information according to a certain ratio of the difference. For example: the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5cm, and the second depth of field information can be included in the second depth of field information according to actual conditions or preset strategies. The depth of field of the corresponding pixel is adjusted to the depth of field of the pixel included in the first depth of field information by 10%, 20%, 30%, 50%, 80% and other values of 5cm, namely: adjust 5mm, 1cm, 1.5cm, 2.5cm, 4cm Equal value.

在一些实施例中，在预设区域中进行景深调整时，也可以将第二景深信息中包括的对应像素的景深直接调整为第一景深信息中包括的像素的景深。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，可以根据实际情况或预设策略等操作方式直接将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm。In some embodiments, when the depth of field is adjusted in the preset area, the depth of field of the corresponding pixel included in the second depth of field information may also be directly adjusted to the depth of field of the pixel included in the first depth of field information. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the second depth of field information can be directly included in the second depth of field information according to actual conditions or preset strategies. The depth of field of the included corresponding pixel is adjusted by 5 cm to the depth of field of the pixel included in the first depth of field information.

参见图2A，在一些实施例中，协调景深摄像头模组中的至少两个景深摄像头以获取第一景深信息，可以包括：Referring to FIG. 2A, in some embodiments, coordinating at least two depth-of-field cameras in the depth-of-field camera module to obtain first depth-of-field information may include:

S201：选择景深摄像头模组中的一个景深摄像头获取拍摄对象的景深信息；S201: Select a depth camera in the depth camera module to obtain depth information of the photographed object;

S202：将获取的拍摄对象的景深信息作为第一景深信息。S202: Use the acquired depth information of the shooting object as the first depth information.

参见图2B，在一些实施例中，协调景深摄像头模组中的至少两个景深摄像头以获取第一景深信息，可以包括：Referring to FIG. 2B, in some embodiments, coordinating at least two depth-of-field cameras in the depth-of-field camera module to obtain first depth-of-field information may include:

S211：选择景深摄像头模组中的至少两个景深摄像头分别获取拍摄对象的景深信息；S211: Select at least two depth-of-field cameras in the depth-of-field camera module to obtain the depth information of the shooting object respectively;

S212：选择至少两个景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息。S212: Select the depth information of the shooting object acquired by one of the at least two depth cameras as the first depth information.

参见图2C，在一些实施例中，协调景深摄像头模组中的至少两个景深摄像头以获取第一景深信息，可以包括：Referring to FIG. 2C, in some embodiments, coordinating at least two depth-of-field cameras in the depth-of-field camera module to obtain the first depth-of-field information may include:

S221：选择景深摄像头模组中的所有景深摄像头分别获取拍摄对象的景深信息；S221: Select all depth-of-field cameras in the depth-of-field camera module to obtain the depth information of the shooting object respectively;

S222：选择所有景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息。S222: Select the depth information of the shooting object obtained by one depth camera among all the depth cameras as the first depth information.

在一些实施例中，选择所有景深摄像头中的一个景深摄像头，包括：选择所有景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所有景深摄像头中获取景深信息的准确度最高的一个景深摄像头。In some embodiments, selecting a depth camera among all depth cameras includes: selecting a depth camera in the best working state among all depth cameras; or, selecting a depth of field with the highest accuracy of acquiring depth information among all depth cameras. Camera.

在一些实施例中，无论是在两个景深摄像头中选择，还是在三个或更多景深摄像头中选择，均可根据景深摄像头的工作状态、准确度等选择最优的景深摄像头。可选地，景深摄像头的工作状态可以包括景深摄像头的工作温度、工作负载等；景深摄像头的准确度可以包括景深摄像头的出厂设定准确度，或实际准确度与出厂设定准确度之间的差异(差异越小，代表景深摄像头的准确度越高)等。In some embodiments, whether you choose between two depth-of-field cameras or three or more depth-of-field cameras, the optimal depth-of-field camera can be selected according to the working status and accuracy of the depth-of-field cameras. Optionally, the working status of the depth-of-field camera may include the working temperature and workload of the depth-of-field camera; the accuracy of the depth-of-field camera may include the factory setting accuracy of the depth-of-field camera, or the difference between the actual accuracy and the factory setting accuracy. Difference (the smaller the difference, the higher the accuracy of the depth-of-field camera) and so on.

在一些实施例中，景深摄像头模组中的至少一个景深摄像头可以是结构光摄像头或飞行时间(Time Of Flight，TOF)摄像头，能够获取拍摄对象的包含像素景深在内的第一景深信息。可选地，获取的第一景深信息可以以景深图像的形式呈现。In some embodiments, the at least one depth camera in the depth camera module may be a structured light camera or a Time Of Flight (TOF) camera, which can acquire the first depth information including the pixel depth of the photographed object. Optionally, the acquired first depth information may be presented in the form of a depth image.

参见图3，在一些实施例中，通过至少两个彩色摄像头获取拍摄对象的彩色图像，可以包括：Referring to FIG. 3, in some embodiments, acquiring a color image of a photographed subject through at least two color cameras may include:

S231：通过第一彩色摄像头获取第一彩色图像，还通过第二彩色摄像头获取第二彩色图像；S231: Obtain a first color image through the first color camera, and also acquire a second color image through the second color camera;

S232：根据第一彩色摄像头与第二彩色摄像头的间距和拍摄角度，将第一彩色图像与第二彩色图像合成为包含第二景深信息的彩色合成图像。S232: According to the distance between the first color camera and the second color camera and the shooting angle, synthesize the first color image and the second color image into a color composite image including second depth of field information.

在一些实施例中，第一彩色摄像头和第二彩色摄像头可以是相同的彩色摄像头。可选地，第一彩色摄像头和第二彩色摄像头也可以是不同的彩色摄像头。在这种情况下，为了顺利合成彩色合成图像，可以对第一彩色图像与第二彩色图像进行校准、矫正等处理。In some embodiments, the first color camera and the second color camera may be the same color camera. Optionally, the first color camera and the second color camera may also be different color cameras. In this case, in order to smoothly synthesize the color composite image, the first color image and the second color image can be calibrated and corrected.

在一些实施例中，还可以用不同于图3所示的其它可行方式通过至少两个彩色摄像头获取拍摄对象的彩色合成图像。可选地，获取彩色合成图像时还可以基于除间距和拍摄角度以外的参数。可选地，获取彩色合成图像时还可以用到多于两个彩色摄像头，例如：三个或更多彩色摄像头，只要能够成功合成彩色合成图像即可。In some embodiments, it is also possible to obtain a color composite image of the subject through at least two color cameras in other feasible ways different from that shown in FIG. 3. Optionally, the acquisition of the color composite image may also be based on parameters other than the pitch and the shooting angle. Optionally, more than two color cameras may be used when acquiring the color composite image, for example, three or more color cameras, as long as the color composite image can be successfully synthesized.

在一些实施例中，彩色合成图像可以包括左半幅图像、右半幅图像；其中，左半幅图像可以为彩色图像，右半幅图像可以为景深图像。In some embodiments, the color composite image may include the left half of the image and the right half of the image; wherein the left half of the image may be a color image, and the right half of the image may be a depth image.

本公开实施例提供了一种3D拍摄装置300，包括处理器和存储有程序指令的存储器；处理器被配置为在执行程序指令时，执行上述的3D拍摄方法。An embodiment of the present disclosure provides a 3D shooting device 300, including a processor and a memory storing program instructions; the processor is configured to execute the above 3D shooting method when the program instructions are executed.

在一些实施例中，上述的3D拍摄装置300如图4所示，包括：In some embodiments, the above-mentioned 3D photographing device 300 is shown in FIG. 4 and includes:

处理器(processor)310和存储器(memory)320，还可以包括通信接口(Communication Interface)330和总线340。其中，处理器310、通信接口330、存储器320可以通过总线340完成相互间的通信。通信接口330可以用于信息传输。处理器310可以调用存储器320中的逻辑指令，以执行上述实施例的3D拍摄方法。A processor (processor) 310 and a memory (memory) 320 may also include a communication interface (Communication Interface) 330 and a bus 340. Among them, the processor 310, the communication interface 330, and the memory 320 can communicate with each other through the bus 340. The communication interface 330 can be used for information transmission. The processor 310 may call logical instructions in the memory 320 to execute the 3D shooting method of the foregoing embodiment.

此外，上述的存储器320中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。In addition, the above-mentioned logical instructions in the memory 320 can be implemented in the form of a software functional unit and when sold or used as an independent product, they can be stored in a computer readable storage medium.

存储器320作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令/模块。处理器310通过运行存储在存储器320中的程序指令/模块，从而执行功能应用以及数据处理，即实现上述方法实施例中的3D拍摄方法。As a computer-readable storage medium, the memory 320 can be used to store software programs and computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 310 executes functional applications and data processing by running program instructions/modules stored in the memory 320, that is, implements the 3D shooting method in the foregoing method embodiment.

存储器320可包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序；存储数据区可存储根据终端设备的使用所创建的数据等。此外，存储器320可以包括高速随机存取存储器，还可以包括非易失性存储器。The memory 320 may include a program storage area and a data storage area, where the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal device, and the like. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory.

参见图5，本公开实施例提供了一种3D拍摄装置300，包括：Referring to FIG. 5, an embodiment of the present disclosure provides a 3D photographing device 300, including:

景深摄像头模组410，包括至少两个景深摄像头，被配置为通过协调至少两个景深摄像头获取拍摄对象的第一景深信息；The depth-of-field camera module 410 includes at least two depth-of-field cameras, and is configured to obtain first depth-of-field information of a photographing object by coordinating the at least two depth-of-field cameras;

彩色摄像头模组420，包括至少两个彩色摄像头，被配置为获取能够根据第一景深信息调整的拍摄对象的彩色图像；The color camera module 420 includes at least two color cameras, and is configured to obtain a color image of a photographed object that can be adjusted according to the first depth of field information;

其中，上述的至少两个彩色摄像头可以采用性能指标相同的光学镜头和传感器芯片。Wherein, the above-mentioned at least two color cameras may adopt optical lenses and sensor chips with the same performance indicators.

在一些实施例中，景深摄像头模组410可以与彩色摄像头模组420通信，以收发拍摄或处理的图像等内容。In some embodiments, the depth-of-field camera module 410 may communicate with the color camera module 420 to send and receive content such as captured or processed images.

参见图6，在一些实施例中，3D拍摄装置300还可以包括图像处理器430，被配置为根据第一景深信息调整彩色图像中的第二景深信息。Referring to FIG. 6, in some embodiments, the 3D photographing apparatus 300 may further include an image processor 430 configured to adjust the second depth information in the color image according to the first depth information.

在一些实施例中，图像处理器430，还可以被配置为：对调整后的彩色图像进行3D显示。可行的3D显示方式多种多样，在此不再赘述，只要图像处理器430能够对景深调整后的彩色图像顺利实现3D显示即可。In some embodiments, the image processor 430 may also be configured to display the adjusted color image in 3D. There are various possible 3D display modes, which will not be repeated here, as long as the image processor 430 can smoothly implement 3D display of the color image after the depth of field adjustment.

在一些实施例中，图像处理器430，可以被配置为：In some embodiments, the image processor 430 may be configured to:

相比较而言，上述至少两个彩色摄像头获取的彩色图像的分辨率高、景深准确性低，而景深摄像头获取的第一景深信息(可以以景深图像的形式呈现)的分辨率低、景深准确性高。因此，图像处理器430可以以第一景深信息中包括的像素的景深为基准对第二景深信息中包括的对应像素的景深进行调整，这样就可以使第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深靠近，以缩小第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，有效提高了第二景深信息中包括的对应像素的景深的准确性。In comparison, the color images acquired by the above-mentioned at least two color cameras have high resolution and low depth of field accuracy, while the first depth of field information (which can be presented in the form of depth images) acquired by the depth camera has low resolution and accurate depth of field. High sex. Therefore, the image processor 430 can adjust the depth of field of the corresponding pixel included in the second depth of field information based on the depth of field of the pixel included in the first depth of field information, so that the depth of field of the corresponding pixel included in the second depth of field information can be adjusted. Approaching the depth of field of the pixels included in the first depth of field information to reduce the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixels included in the first depth of field information, effectively improving the second depth of field information The accuracy of the depth of field included in the corresponding pixel.

在一些实施例中，图像处理器430以第一景深信息(景深图像)中包括的像素的景深为基准，调整第二景深信息中包括的对应像素的景深之前，可以先统一景深图像和彩色图像的大小；之后，基于景深摄像头和彩色摄像头之间的FOV对景深图像和彩色图像进行特征值抓取和匹配，以便以像素为单位将景深图像中的像素对应到彩色图像中的对应像素上；这样，就可以将景深图像中的像素的景深与彩色图像中的对应像素的景深进行比较，并根据比较结果进行景深调整。In some embodiments, the image processor 430 uses the depth of field of the pixels included in the first depth of field information (depth of field image) as a reference, and before adjusting the depth of field of the corresponding pixels included in the second depth of field information, the depth of field image and the color image may be unified. Then, based on the FOV between the depth-of-field camera and the color camera, perform feature value capture and matching of the depth-of-field image and the color image, so that the pixels in the depth-of-field image are mapped to the corresponding pixels in the color image in units of pixels; In this way, the depth of field of a pixel in the depth image can be compared with the depth of field of the corresponding pixel in the color image, and the depth of field can be adjusted according to the comparison result.

在一些实施例中，图像处理器430可以基于第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，将第二景深信息中包括的对应像素的景深按该差值的一定比例向第一景深信息中包括的像素的景深调整。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，图像处理器430可以根据实际情况或预设策略等操作方式将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm的10％、20％、30％、50％、80％等数值，即：调整5mm、1cm、1.5cm、2.5cm、4cm等数值。In some embodiments, the image processor 430 may, based on the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information, convert the corresponding pixel included in the second depth of field information The depth of field of is adjusted to the depth of field of the pixels included in the first depth of field information according to a certain proportion of the difference. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the image processor 430 may adjust the second The depth of field of the corresponding pixel included in the depth of field information is adjusted to the depth of field of the pixel included in the first depth of field information by 10%, 20%, 30%, 50%, 80% and other values of 5cm, namely: adjustment of 5mm, 1cm, 1.5cm, Values such as 2.5cm, 4cm, etc.

在一些实施例中，图像处理器430也可以将第二景深信息中包括的对应像素的景深直接调整为第一景深信息中包括的像素的景深。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，图像处理器430可以根据实际情况或预设策略等操作方式直接将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm。In some embodiments, the image processor 430 may also directly adjust the depth of field of the corresponding pixel included in the second depth of field information to the depth of field of the pixel included in the first depth of field information. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the image processor 430 may directly adjust the first depth of field according to the actual situation or a preset strategy. The depth of field of the corresponding pixel included in the second depth of field information is adjusted by 5 cm to the depth of field of the pixel included in the first depth of field information.

进行上述的景深调整时，由于景深摄像头获取的第一景深信息的分辨率低，因此景深图像中的全部像素可能只对应到彩色图像中的部分像素，导致第二景深信息中包括的对应像素以外的部分或全部像素的景深可能无法得到有效调整。在这种情况下，在一些实施例中，图像处理器430，还可以被配置为：以第一景深信息中包括的像素的景深为基准，调整第二景深信息中包括的对应像素以外的像素的景深，以便对第二景深信息中包括的对应像素以外的像素的景深进行有效调整，以有效提高景深准确度。When performing the above-mentioned depth adjustment, since the resolution of the first depth information acquired by the depth camera is low, all pixels in the depth image may only correspond to some pixels in the color image, resulting in other than the corresponding pixels included in the second depth information The depth of field of some or all of the pixels may not be effectively adjusted. In this case, in some embodiments, the image processor 430 may also be configured to adjust pixels other than the corresponding pixels included in the second depth information based on the depth of field of the pixels included in the first depth information. In order to effectively adjust the depth of field of pixels other than the corresponding pixels included in the second depth information, so as to effectively improve the accuracy of the depth of field.

在一些实施例中，在预设区域中进行景深调整时，图像处理器430可以基于第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值，将第二景深信息中包括的对应像素的景深按该差值的一定比例向第一景深信息中包括的像素的景深调整。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，图像处理器430可以根据实际情况或预设策略等操作方式将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm的10％、20％、30％、50％、80％等数值，即：调整5mm、1cm、1.5cm、2.5cm、4cm等数值。In some embodiments, when the depth of field adjustment is performed in the preset area, the image processor 430 may be based on the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information, The depth of field of the corresponding pixel included in the second depth information is adjusted to the depth of field of the pixel included in the first depth information according to a certain ratio of the difference. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the image processor 430 may adjust the second The depth of field of the corresponding pixel included in the depth of field information is adjusted to the depth of field of the pixel included in the first depth of field information by 10%, 20%, 30%, 50%, 80% and other values of 5cm, namely: adjust 5mm, 1cm, 1.5cm, Values such as 2.5cm, 4cm, etc.

在一些实施例中，在预设区域中进行景深调整时，图像处理器430也可以将第二景深信息中包括的对应像素的景深直接调整为第一景深信息中包括的像素的景深。例如：第二景深信息中包括的对应像素的景深与第一景深信息中包括的像素的景深之间的差值为5cm，图像处理器430可以根据实际情况或预设策略等操作方式直接将第二景深信息中包括的对应像素的景深向第一景深信息中包括的像素的景深调整5cm。In some embodiments, when adjusting the depth of field in the preset area, the image processor 430 may also directly adjust the depth of field of the corresponding pixel included in the second depth of field information to the depth of field of the pixel included in the first depth of field information. For example, the difference between the depth of field of the corresponding pixel included in the second depth of field information and the depth of field of the pixel included in the first depth of field information is 5 cm, and the image processor 430 may directly adjust the first depth of field according to the actual situation or a preset strategy. The depth of field of the corresponding pixel included in the second depth of field information is adjusted by 5 cm to the depth of field of the pixel included in the first depth of field information.

在一些实施例中，景深摄像头模组410，可以被配置为：In some embodiments, the depth-of-field camera module 410 may be configured as:

选择景深摄像头模组410中的一个景深摄像头获取拍摄对象的景深信息，将获取的拍摄对象的景深信息作为第一景深信息；或Select a depth camera in the depth camera module 410 to obtain the depth information of the shooting object, and use the obtained depth information of the shooting object as the first depth information; or

选择景深摄像头模组410中的至少两个景深摄像头分别获取拍摄对象的景深信息，选择至少两个景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息；或Select at least two depth cameras in the depth camera module 410 to obtain the depth information of the subject respectively, and select the depth information of the subject obtained by one of the at least two depth cameras as the first depth information; or

选择景深摄像头模组410中的所有景深摄像头分别获取拍摄对象的景深信息，选择所有景深摄像头中的一个景深摄像头所获取的拍摄对象的景深信息作为第一景深信息。All the depth cameras in the depth camera module 410 are selected to obtain the depth information of the shooting object respectively, and the depth information of the shooting object obtained by one of the depth cameras of all the depth cameras is selected as the first depth information.

或，or,

参见图7，在一些实施例中，景深摄像头模组410，可以包括：Referring to FIG. 7, in some embodiments, the depth-of-field camera module 410 may include:

第一景深摄像头411，被配置为获取拍摄对象的景深信息；The first depth-of-field camera 411 is configured to acquire depth information of the photographed subject;

第二景深摄像头412，被配置为获取拍摄对象的景深信息。The second depth-of-field camera 412 is configured to acquire depth information of the photographed subject.

在一些实施例中，第一景深摄像头411和第二景深摄像头412可以是相同的景深摄像头。可选地，第一景深摄像头411和第二景深摄像头412也可以是不同的景深摄像头。In some embodiments, the first depth camera 411 and the second depth camera 412 may be the same depth camera. Optionally, the first depth camera 411 and the second depth camera 412 may also be different depth cameras.

在一些实施例中，景深摄像头模组410还可以包括多于两个的景深摄像头。In some embodiments, the depth-of-field camera module 410 may also include more than two depth-of-field cameras.

在一些实施例中，除了景深摄像头以外，景深摄像头模组410还可以包括能够控制景深摄像头的控制器，以有效控制景深摄像头的运转。In some embodiments, in addition to the depth-of-field camera, the depth-of-field camera module 410 may further include a controller capable of controlling the depth-of-field camera to effectively control the operation of the depth-of-field camera.

在一些实施例中，景深摄像头模组410中的至少一个景深摄像头可以为结构光摄像头或TOF摄像头，能够获取拍摄对象的包含像素景深在内的第一景深信息。可选地，获取的第一景深信息可以以景深图像的形式呈现。In some embodiments, at least one depth camera in the depth camera module 410 may be a structured light camera or a TOF camera, which can acquire the first depth information including the pixel depth of the photographed object. Optionally, the acquired first depth information may be presented in the form of a depth image.

在一些实施例中，景深摄像头模组410中的至少一个景深摄像头可以为TOF摄像头，TOF摄像头可以位于彩色摄像头模组420中的两个彩色摄像头之间，或彩色摄像头周边等其他位置。可选地，景深摄像头模组410中的景深摄像头也可以和彩色摄像头模组420中的相同数量的彩色摄像头对位设置；例如：景深摄像头模组410中的两个景深摄像头可以和彩色摄像头模组420中的两个彩色摄像头对位设置。In some embodiments, at least one depth camera in the depth camera module 410 may be a TOF camera, and the TOF camera may be located between two color cameras in the color camera module 420 or other locations around the color camera. Optionally, the depth camera in the depth camera module 410 can also be aligned with the same number of color cameras in the color camera module 420; for example, the two depth cameras in the depth camera module 410 can be aligned with the color camera module. The two color cameras in the group 420 are aligned.

参见图8，在一些实施例中，彩色摄像头模组420，可以包括：Referring to FIG. 8, in some embodiments, the color camera module 420 may include:

第一彩色摄像头421，被配置为获取第一彩色图像；The first color camera 421 is configured to obtain a first color image;

第二彩色摄像头422，被配置为获取第二彩色图像；The second color camera 422 is configured to obtain a second color image;

可选地，图像处理器430，可以被配置为：Optionally, the image processor 430 may be configured as:

根据第一彩色摄像头421与第二彩色摄像头422的间距和拍摄角度，将第一彩色图像与第二彩色图像合成为包含第二景深信息的彩色合成图像。According to the distance between the first color camera 421 and the second color camera 422 and the shooting angle, the first color image and the second color image are synthesized into a color synthesized image including the second depth of field information.

在一些实施例中，第一彩色摄像头421和第二彩色摄像头422可以是相同的彩色摄像头。可选地，第一彩色摄像头421和第二彩色摄像头422也可以是不同的彩色摄像头。在这种情况下，为了顺利合成彩色合成图像，可以对第一彩色图像与第二彩色图像进行校准、矫正等处理。In some embodiments, the first color camera 421 and the second color camera 422 may be the same color camera. Optionally, the first color camera 421 and the second color camera 422 may also be different color cameras. In this case, in order to smoothly synthesize the color composite image, the first color image and the second color image can be calibrated and corrected.

在一些实施例中，彩色摄像头模组420还可以用不同于图6所示的其它可行方式通过至少两个彩色摄像头获取拍摄对象的彩色合成图像。可选地，彩色摄像头模组420获取彩色合成图像时还可以基于除间距和拍摄角度以外的参数。可选地，彩色摄像头模组420获取彩色合成图像时还可以用到多于两个彩色摄像头，例如：三个或更多彩色摄像头，只要能够成功合成彩色合成图像即可。In some embodiments, the color camera module 420 can also obtain a color composite image of the subject through at least two color cameras in other feasible ways different from those shown in FIG. 6. Optionally, the color camera module 420 may also be based on parameters other than the pitch and the shooting angle when acquiring the color composite image. Optionally, the color camera module 420 may also use more than two color cameras when acquiring the color composite image, for example, three or more color cameras, as long as the color composite image can be successfully synthesized.

在一些实施例中，除了彩色摄像头以外，彩色摄像头模组420还可以包括能够控制彩色摄像头的控制器，以有效控制彩色摄像头的运转，以及顺利实现彩色合成图像的合成。In some embodiments, in addition to the color camera, the color camera module 420 may also include a controller capable of controlling the color camera, so as to effectively control the operation of the color camera and smoothly realize the synthesis of the color composite image.

在一些实施例中，图像处理器430可以是基于CPU、现场可编程门阵列(FPGA)或专用集成电路(ASIC)等高速运算芯片的3D图像处理器。可选地，该3D图像处理器可以以芯片、单片机等形式呈现。In some embodiments, the image processor 430 may be a 3D image processor based on a high-speed arithmetic chip such as a CPU, a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC). Optionally, the 3D image processor may be presented in the form of a chip, a single-chip microcomputer, or the like.

参见图9，本公开实施例提供了一种3D显示终端500，包括上述的由景深摄像头模组410、彩色摄像头模组420构成的3D拍摄装置300。可选地，3D显示终端500还可以包括图像处理器430。Referring to FIG. 9, an embodiment of the present disclosure provides a 3D display terminal 500 that includes the above-mentioned 3D photographing device 300 composed of a depth camera module 410 and a color camera module 420. Optionally, the 3D display terminal 500 may further include an image processor 430.

在一些实施例中，3D显示终端500还可以包括用于支持3D显示终端500正常运转的构件，例如：导光板、偏光片、玻璃基板、液晶层、滤光片等构件中的至少之一。In some embodiments, the 3D display terminal 500 may further include components for supporting the normal operation of the 3D display terminal 500, such as at least one of a light guide plate, a polarizer, a glass substrate, a liquid crystal layer, and a filter.

在一些实施例中，3D显示终端500可以设置于3D显示器中。可选地，3D显示器还可以包括用于支持3D显示器正常运转的构件，例如：背光模组、主板、背板等构件中的至少之一。In some embodiments, the 3D display terminal 500 may be provided in a 3D display. Optionally, the 3D display may also include components for supporting the normal operation of the 3D display, for example: at least one of components such as a backlight module, a main board, and a backplane.

上述的本公开实施例提供的3D拍摄方法、装置及3D显示终端，能够协调景深摄像头模组中的至少两个景深摄像头以对彩色摄像头模组所获取的彩色图像进行景深调整，能够有效提高彩色图像的景深准确度。The 3D shooting method, device, and 3D display terminal provided by the above-mentioned embodiments of the present disclosure can coordinate at least two depth cameras in the depth camera module to adjust the depth of field of the color image obtained by the color camera module, and can effectively improve the color The depth of field accuracy of the image.

本公开实施例还提供了一种计算机可读存储介质，存储有计算机可执行指令，该计算机可执行指令设置为执行上述的3D拍摄方法。The embodiment of the present disclosure also provides a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned 3D shooting method.

本公开实施例还提供了一种计算机程序产品，包括存储在计算机可读存储介质上的计算机程序，该计算机程序包括程序指令，当该程序指令被计算机执行时，使上述计算机执行上述的3D拍摄方法。The embodiments of the present disclosure also provide a computer program product, including a computer program stored on a computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer executes the above-mentioned 3D shooting method.

上述的计算机可读存储介质可以是暂态计算机可读存储介质，也可以是非暂态计算机可读存储介质。The aforementioned computer-readable storage medium may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

本公开实施例提供的计算机可读存储介质、计算机程序产品，能够协调景深摄像头模组中的至少两个景深摄像头以对彩色摄像头模组所获取的彩色图像进行景深调整，能够有效提高彩色图像的景深准确度。The computer-readable storage medium and computer program product provided by the embodiments of the present disclosure can coordinate at least two depth-of-field cameras in the depth-of-field camera module to adjust the depth of field of the color image acquired by the color camera module, and can effectively improve the quality of the color image. Depth of field accuracy.

在一些实施例中，上述的3D技术可以包括裸眼3D技术，即：上述的3D拍摄装置、3D显示终端可以实现与裸眼3D相关的功能，例如：裸眼3D图像的拍摄、显示等。In some embodiments, the above-mentioned 3D technology may include naked-eye 3D technology, that is, the above-mentioned 3D photographing device and 3D display terminal may implement functions related to naked-eye 3D, such as: shooting and displaying naked-eye 3D images.

本公开实施例的技术方案可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括一个或多个指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开实施例的方法的全部或部分步骤。而前述的存储介质可以是非暂态存储介质，包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等多种可以存储程序代码的介质，也可以是暂态存储介质。The technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which can be a personal computer, a server, or a network). Equipment, etc.) execute all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned storage medium may be a non-transitory storage medium, including: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc. A medium that can store program codes, or it can be a transient storage medium.

以上描述和附图充分地示出了本公开的实施例，以使本领域技术人员能够实践它们。其他实施例可以包括结构的、逻辑的、电气的、过程的以及其他的改变。实施例仅代表可能的变化。除非明确要求，否则单独的部件和功能是可选的，并且操作的顺序可以变化。一些实施例的部分和特征可以被包括在或替换其他实施例的部分和特征。本公开实施例的范围包括权利要求书的整个范围，以及权利要求书的所有可获得的等同物。当用于本申请中时，虽然术语“第一”、“第二”等可能会在本申请中使用以描述各元件，但这些元件不应受到这些术语的限制。这些术语仅用于将一个元件与另一个元件区别开。比如，在不改变描述的含义的情况下，第一元件可以叫做第二元件，并且同样第，第二元件可以叫做第一元件，只要所有出现的“第一元件”一致重命名并且所有出现的“第二元件”一致重命名即可。第一元件和第二元件都是元件，但可以不是相同的元件。而且，本申请中使用的用词仅用于描述实施例并且不用于限制权利要求。如在实施例以及权利要求的描述中使用的，除非上下文清楚地表明，否则单数形式的“一个”(a)、“一个”(an)和“所述”(the)旨在同样包括复数形式。类似地，如在本申请中所使用的术语“和/或”是指包含一个或一个以上相关联的列出的任何以及所有可能的组合。另外，当用于本申请中时，术语“包括”(comprise)及其变型“包括”(comprises)和/或包括(comprising)等指陈述的特征、整体、步骤、操作、元素，和/或组件的存在，但不排除一个或一个以上其它特征、整体、步骤、操作、元素、组件和/或这些的分组的存在或添加。在没有更多限制的情况下，由语句“包括一个…”限定的要素，并不排除在包括该要素的过程、方法或者设备中还存在另外的相同要素。本文中，每个实施例重点说明的可以是与其他实施例的不同之处，各个实施例之间相同相似部分可以互相参见。对于实施例公开的方法、产品等而言，如果其与实施例公开的方法部分相对应，那么相关之处可以参见方法部分的描述。The above description and drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The examples only represent possible changes. Unless explicitly required, the individual components and functions are optional, and the order of operations can be changed. Parts and features of some embodiments may be included in or substituted for parts and features of other embodiments. The scope of the embodiments of the present disclosure includes the entire scope of the claims and all available equivalents of the claims. When used in this application, although the terms "first", "second", etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without changing the meaning of the description, the first element can be called the second element, and likewise, the second element can be called the first element, as long as all occurrences of the "first element" are renamed consistently and all occurrences "Second component" can be renamed consistently. The first element and the second element are both elements, but they may not be the same element. Moreover, the terms used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms "a" (a), "an" (an) and "the" (the) are intended to also include plural forms . Similarly, the term "and/or" as used in this application refers to any and all possible combinations that include one or more of the associated lists. In addition, when used in this application, the term "comprise" (comprise) and its variants "comprises" and/or including (comprising) and the like refer to the stated features, wholes, steps, operations, elements, and/or The existence of components does not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components, and/or groups of these. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, or device that includes the element. In this article, each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method parts disclosed in the embodiments, then the related parts can be referred to the description of the method parts.

本领域技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，可以取决于技术方案的特定应用和设计约束条件。本领域技术人员可以对每个特定的应用来使用不同方法以实现所描述的功能，但是这种实现不应认为超出本公开实施例的范围。本领域技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software may depend on the specific application and design constraint conditions of the technical solution. Those skilled in the art may use different methods for each specific application to realize the described functions, but such realization should not be considered as going beyond the scope of the embodiments of the present disclosure. Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

本文所披露的实施例中，所揭露的方法、产品(包括但不限于装置、设备等)，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，可以仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例。另外，在本公开实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units may only be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, the functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

附图中的流程图和框图显示了根据本公开实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，上述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。在附图中的流程图和框图所对应的描述中，不同的方框所对应的操作或步骤也可以以不同于描述中所披露的顺序发生，有时不同的操作或步骤之间不存在特定的顺序。例如，两个连续的操作或步骤实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more options for realizing the specified logic function. Execute instructions. In some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the drawings, the operations or steps corresponding to different blocks can also occur in a different order than that disclosed in the description, and sometimes there is no specific operation or step between different operations or steps. order. For example, two consecutive operations or steps can actually be performed substantially in parallel, and they can sometimes be performed in the reverse order, which may depend on the functions involved. Each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by dedicated hardware Realized in combination with computer instructions.

Claims

一种3D拍摄方法，适用于包括至少两个景深摄像头的景深摄像头模组，以及包括至少两个彩色摄像头的彩色摄像头模组；所述方法包括：A 3D shooting method is suitable for a depth camera module including at least two depth cameras and a color camera module including at least two color cameras; the method includes:

协调所述景深摄像头模组中的至少两个景深摄像头以获取拍摄对象的第一景深信息，通过所述彩色摄像头模组中的至少两个彩色摄像头获取能够根据所述第一景深信息调整的所述拍摄对象的彩色图像。At least two depth cameras in the depth camera module are coordinated to obtain first depth information of the photographed subject, and all the information that can be adjusted according to the first depth information is obtained through the at least two color cameras in the color camera module. Describe the color image of the subject.
根据权利要求1所述的方法，还包括：根据所述第一景深信息调整所述彩色图像中的第二景深信息。The method according to claim 1, further comprising: adjusting second depth information in the color image according to the first depth information.
根据权利要求2所述的方法，还包括：对调整后的所述彩色图像进行3D显示。The method according to claim 2, further comprising: performing 3D display on the adjusted color image.
根据权利要求2所述的方法，其中，根据所述第一景深信息调整所述彩色图像中的第二景深信息，包括：The method according to claim 2, wherein adjusting the second depth information in the color image according to the first depth information comprises:

以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素的景深，使所述第二景深信息中包括的对应像素的景深向所述第一景深信息中包括的像素的景深靠近。Using the depth of field of the pixels included in the first depth of field information as a reference, adjust the depth of field of the corresponding pixel included in the second depth of field information so that the depth of field of the corresponding pixel included in the second depth of field information is oriented toward the first depth of field. The depth of field of the pixels included in the depth information is close.
根据权利要求4所述的方法，其中，以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素的景深，包括：The method according to claim 4, wherein adjusting the depth of field of the corresponding pixel included in the second depth of field information based on the depth of field of the pixel included in the first depth of field information comprises:

将所述第二景深信息中包括的对应像素的景深按比例向所述第一景深信息中包括的像素的景深调整；或，Adjust the depth of field of the corresponding pixel included in the second depth information to the depth of field of the pixel included in the first depth information in proportion; or,

将所述第二景深信息中包括的对应像素的景深，调整为所述第一景深信息中包括的像素的景深。The depth of field of the corresponding pixel included in the second depth information is adjusted to the depth of field of the pixel included in the first depth information.
根据权利要求4或5所述的方法，还包括：以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素以外的像素的景深。The method according to claim 4 or 5, further comprising: adjusting the depth of field of pixels other than the corresponding pixels included in the second depth of field information based on the depth of field of the pixels included in the first depth of field information.
根据权利要求6所述的方法，其中，以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素以外的像素的景深，包括：The method according to claim 6, wherein adjusting the depth of field of pixels other than the corresponding pixels included in the second depth of field information based on the depth of field of the pixels included in the first depth of field information comprises:

在预设区域中，将所述第二景深信息中包括的对应像素以外的像素的景深按比例向所述第一景深信息中包括的像素的景深调整；或，In the preset area, adjust the depth of field of pixels other than the corresponding pixels included in the second depth information to the depth of field of the pixels included in the first depth information in proportion; or,

在预设区域中，将所述第二景深信息中包括的对应像素以外的像素的景深，调整为所述第一景深信息中包括的像素的景深。In the preset area, the depth of field of pixels other than the corresponding pixels included in the second depth of field information is adjusted to the depth of field of the pixels included in the first depth of field information.
根据权利要求1至7任一项所述的方法，其中，协调所述景深摄像头模组中的至少两个景深摄像头以获取所述第一景深信息，包括：The method according to any one of claims 1 to 7, wherein coordinating at least two depth-of-field cameras in the depth-of-field camera module to obtain the first depth-of-field information comprises:

选择所述景深摄像头模组中的一个景深摄像头获取所述拍摄对象的景深信息，将获取的所述拍摄对象的景深信息作为所述第一景深信息；或Selecting a depth camera in the depth camera module to obtain the depth information of the shooting object, and using the obtained depth information of the shooting object as the first depth information; or

选择所述景深摄像头模组中的至少两个景深摄像头分别获取所述拍摄对象的景深信息，选择所述至少两个景深摄像头中的一个景深摄像头所获取的所述拍摄对象的景深信息作为所述第一景深信息；或Select at least two depth-of-field cameras in the depth-of-field camera module to obtain the depth-of-field information of the subject respectively, and select the depth-of-field information of the subject obtained by one of the at least two depth-of-field cameras as the The first depth of field information; or

选择所述景深摄像头模组中的所有景深摄像头分别获取所述拍摄对象的景深信息，选择所述所有景深摄像头中的一个景深摄像头所获取的所述拍摄对象的景深信息作为所述第一景深信息。Select all the depth cameras in the depth camera module to obtain the depth information of the subject respectively, and select the depth information of the subject obtained by one of the depth cameras of the depth camera as the first depth information .
根据权利要求8所述的方法，其中，The method according to claim 8, wherein:

选择所述至少两个景深摄像头中的一个景深摄像头，包括：选择所述至少两个景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所述至少两个景深摄像头中获取景深信息的准确度最高的一个景深摄像头；Selecting one of the at least two depth-of-field cameras includes: selecting one of the at least two depth-of-field cameras that is in the best working state; or, selecting one of the at least two depth-of-field cameras to obtain depth information A depth-of-field camera with the highest accuracy;

或，or,

选择所述所有景深摄像头中的一个景深摄像头，包括：选择所述所有景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所述所有景深摄像头中获取景深信息的准确度最高的一个景深摄像头。Selecting a depth camera among all the depth cameras includes: selecting a depth camera in the best working state among all the depth cameras; or selecting a depth of field with the highest accuracy of acquiring depth information among all the depth cameras Camera.
根据权利要求1至9任一项所述的方法，其中，所述通过至少两个彩色摄像头获取所述拍摄对象的彩色图像，包括：The method according to any one of claims 1 to 9, wherein the acquiring a color image of the subject by using at least two color cameras comprises:

通过第一彩色摄像头获取第一彩色图像，还通过第二彩色摄像头获取第二彩色图像；Acquiring a first color image through a first color camera, and also acquiring a second color image through a second color camera;

根据所述第一彩色摄像头与所述第二彩色摄像头的间距和拍摄角度，将所述第一彩色图像与所述第二彩色图像合成为包含所述第二景深信息的彩色合成图像。According to the distance between the first color camera and the second color camera and the shooting angle, the first color image and the second color image are synthesized into a color synthesized image including the second depth of field information.
根据权利要求10所述的方法，其中，所述彩色合成图像包括左半幅图像、右半幅图像；The method according to claim 10, wherein the color composite image includes a left half image and a right half image;

其中，所述左半幅图像为彩色图像，所述右半幅图像为景深图像。Wherein, the left half of the image is a color image, and the right half of the image is a depth image.
一种3D拍摄装置，包括处理器和存储有程序指令的存储器，所述处理器被配置为在执行所述程序指令时，执行如权利要求1至11任一项所述的方法。A 3D photographing device includes a processor and a memory storing program instructions, the processor is configured to execute the method according to any one of claims 1 to 11 when the program instructions are executed.
一种3D拍摄装置，包括：A 3D shooting device includes:

景深摄像头模组，包括至少两个景深摄像头，被配置为通过协调所述至少两个景深摄像头获取拍摄对象的第一景深信息；A depth-of-field camera module, including at least two depth-of-field cameras, configured to obtain first depth-of-field information of a photographing object by coordinating the at least two depth-of-field cameras;

彩色摄像头模组，包括至少两个彩色摄像头，被配置为获取能够根据所述第一景深信息调整的所述拍摄对象的彩色图像。The color camera module includes at least two color cameras, and is configured to obtain a color image of the photographing object that can be adjusted according to the first depth of field information.
根据权利要求13所述的装置，还包括：图像处理器，被配置为根据所述第一景深信息调整所述彩色图像中的第二景深信息。The apparatus according to claim 13, further comprising: an image processor configured to adjust second depth information in the color image according to the first depth information.
根据权利要求14所述的装置，其中，所述图像处理器，还被配置为：对调整后的所述彩色图像进行3D显示。The apparatus according to claim 14, wherein the image processor is further configured to display the adjusted color image in 3D.
根据权利要求14所述的装置，其中，所述图像处理器，被配置为：The apparatus according to claim 14, wherein the image processor is configured to:

以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素的景深，使所述第二景深信息中包括的对应像素的景深向所述第一景深信息中包括的像素的景深靠近。Using the depth of field of the pixels included in the first depth of field information as a reference, adjust the depth of field of the corresponding pixel included in the second depth of field information so that the depth of field of the corresponding pixel included in the second depth of field information is oriented toward the first depth of field. The depth of field of the pixels included in the depth information is close.
根据权利要求16所述的装置，其中，所述图像处理器，被配置为：The apparatus according to claim 16, wherein the image processor is configured to:

将所述第二景深信息中包括的对应像素的景深按比例向所述第一景深信息中包括的像素的景深调整；或，Adjust the depth of field of the corresponding pixel included in the second depth information to the depth of field of the pixel included in the first depth information in proportion; or,

将所述第二景深信息中包括的对应像素的景深，调整为所述第一景深信息中包括的像素的景深。The depth of field of the corresponding pixel included in the second depth information is adjusted to the depth of field of the pixel included in the first depth information.
根据权利要求16或17所述的装置，其中，所述图像处理器，还被配置为：以所述第一景深信息中包括的像素的景深为基准，调整所述第二景深信息中包括的对应像素以外的像素的景深。The apparatus according to claim 16 or 17, wherein the image processor is further configured to: adjust the depth of field included in the second depth of field information based on the depth of field of the pixels included in the first depth of field information. Corresponds to the depth of field of pixels other than pixels.
根据权利要求18所述的装置，其中，所述图像处理器，被配置为：The apparatus according to claim 18, wherein the image processor is configured to:

在预设区域中，将所述第二景深信息中包括的对应像素以外的像素的景深按比例向所述第一景深信息中包括的像素的景深调整；或，In the preset area, adjust the depth of field of pixels other than the corresponding pixels included in the second depth information to the depth of field of the pixels included in the first depth information in proportion; or,

在预设区域中，将所述第二景深信息中包括的对应像素以外的像素的景深，调整为所述第一景深信息中包括的像素的景深。In the preset area, the depth of field of pixels other than the corresponding pixels included in the second depth of field information is adjusted to the depth of field of the pixels included in the first depth of field information.
根据权利要求13至19任一项所述的装置，其中，所述景深摄像头模组，被配置为：The device according to any one of claims 13 to 19, wherein the depth-of-field camera module is configured to:

选择所述景深摄像头模组中的一个景深摄像头获取所述拍摄对象的景深信息，将获取的所述拍摄对象的景深信息作为所述第一景深信息；或Selecting a depth camera in the depth camera module to acquire the depth information of the photographing object, and using the acquired depth information of the photographing object as the first depth information; or

选择所述景深摄像头模组中的至少两个景深摄像头分别获取所述拍摄对象的景深信息，选择所述至少两个景深摄像头中的一个景深摄像头所获取的所述拍摄对象的景深信息作为所述第一景深信息；或Select at least two depth-of-field cameras in the depth-of-field camera module to obtain the depth-of-field information of the subject respectively, and select the depth-of-field information of the subject obtained by one of the at least two depth-of-field cameras as the The first depth of field information; or

选择所述景深摄像头模组中的所有景深摄像头分别获取所述拍摄对象的景深信息，选择所述所有景深摄像头中的一个景深摄像头所获取的所述拍摄对象的景深信息作为所述第一景深信息。Select all the depth cameras in the depth camera module to obtain the depth information of the subject respectively, and select the depth information of the subject acquired by one of the depth cameras of the depth camera as the first depth information .
根据权利要求20所述的装置，其中，所述景深摄像头模组，被配置为：The device of claim 20, wherein the depth-of-field camera module is configured to:

在选择所述至少两个景深摄像头中的一个景深摄像头的情况下，选择所述至少两个景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所述至少两个景深摄像头中获取景深信息的准确度最高的一个景深摄像头；In the case of selecting one of the at least two depth cameras, select one of the at least two depth cameras in the best working state; or, select the at least two depth cameras to obtain the depth of field A depth-of-field camera with the highest information accuracy;

或，or,

在选择所述所有景深摄像头中的一个景深摄像头的情况下，选择所述所有景深摄像头中处于最佳工作状态的一个景深摄像头；或，选择所述所有景深摄像头中获取景深信息的准确度最高的一个景深摄像头。In the case of selecting a depth camera among all the depth cameras, select the one depth camera in the best working state among all the depth cameras; or, select the one with the highest accuracy of acquiring depth information among all the depth cameras A depth-of-field camera.
根据权利要求20所述的装置，其中，所述景深摄像头模组中的至少一个景深摄像头为结构光摄像头或飞行时间TOF摄像头。22. The device of claim 20, wherein at least one depth camera in the depth camera module is a structured light camera or a time-of-flight TOF camera.
根据权利要求22所述的装置，其中，所述景深摄像头模组中的至少一个景深摄像头为TOF摄像头，所述TOF摄像头位于所述彩色摄像头模组中的两个彩色摄像头之间。The device of claim 22, wherein at least one depth camera in the depth camera module is a TOF camera, and the TOF camera is located between two color cameras in the color camera module.
根据权利要求13至23任一项所述的装置，其中，The device according to any one of claims 13 to 23, wherein:

所述彩色摄像头模组，包括：The color camera module includes:

第一彩色摄像头，被配置为获取第一彩色图像；The first color camera is configured to obtain a first color image;

第二彩色摄像头，被配置为获取第二彩色图像；The second color camera is configured to obtain a second color image;

所述图像处理器，被配置为：The image processor is configured to:

根据所述第一彩色摄像头与所述第二彩色摄像头的间距和拍摄角度，将所述第一彩色图像与所述第二彩色图像合成为包含所述第二景深信息的彩色合成图像。According to the distance between the first color camera and the second color camera and the shooting angle, the first color image and the second color image are synthesized into a color synthesized image including the second depth of field information.
根据权利要求13所述的装置，其中，所述彩色摄像头模组中的至少两个彩色摄像头采用性能指标相同的光学镜头和传感器芯片。The device according to claim 13, wherein at least two color cameras in the color camera module adopt optical lenses and sensor chips with the same performance index.
一种3D显示终端，包括如权利要求12至25任一项所述的装置。A 3D display terminal, comprising the device according to any one of claims 12 to 25.
一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行如权利要求1至11任一项所述的方法。A computer-readable storage medium storing computer-executable instructions, the computer-executable instructions being configured to execute the method according to any one of claims 1 to 11.
一种计算机程序产品，包括存储在计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当该程序指令被计算机执行时，使所述计算机执行如权利要求1至11任一项所述的方法。A computer program product, comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer executes any one of claims 1 to 11 The method described.