Three-dimensional camera assembly, terminal apparatus and ranging method
Embodiments of the present invention provide a three-dimensional camera assembly, a terminal apparatus and a ranging method. The three-dimensional camera assembly comprises: a substrate; a first camera and a second camera, mounted on the substrate and facing a first direction, wherein first and second optical axes of the first and second cameras are oblique with respect to a connection line between lens centers of the first and second cameras, the first optical axis has a first included angle with respect to the connection line, the second optical axis has a second included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°.
1. A ranging method, comprising:
capturing images of an object to be ranged by using a first image pickup device and a second image pickup device, respectively; and
determining a vertical distance h from the object to be ranged to a connection line between a lens center of the first image pickup device and a lens center of the second image pickup device, according to a coordinate difference Δx or Δy between a first image point and a second image point of the object to be ranged formed in the first image pickup device and the second image pickup device,
wherein the first image pickup device and the second image pickup device face the same direction, and a first optical axis of the first image pickup device and a second optical axis of the second image pickup device are oblique with respect to the connection line between the lens center of the first image pickup device and the lens center of the second image pickup device, the first optical axis has a first constant included angle with respect to the connection line, and the second optical axis has a second constant included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°, and
wherein the determining the vertical distance h from the object to be ranged to the connection line between the lens center of the first image pickup device and the lens center of the second image pickup device, according to the coordinate difference Δx or Δy between the first image point and the second image point of the object to be ranged formed in the first image pickup device and the second image pickup device, includes:
determining the distance h by a formula of
h
=
d
*
f
(
x
L
-
x
R
)
*
cos
θ
-
f
=
d
*
f
Δ
x
*
cos
θ
-
f
or
h
=
d
*
f
(
y
L
-
y
R
)
*
cos
θ
-
f
=
d
*
f
Δ
y
*
cos
θ
-
f
,
where x L and y L are a horizontal coordinate and a vertical coordinate of the first image point, x R and y R are a horizontal coordinate and a vertical coordinate of the second image point, d is a distance between the lens center of the first image pickup device and the lens center of the second image pickup device, f is a focal distance of the first image pickup device and the second image pickup device, θ is a complementary angle of the first included angle, the first included angle is equal to the second included angle, and the first image pickup device and the second image pickup device are completely identical.
2. A three-dimensional camera assembly applicable for performing the ranging method according to claim 1 , comprising:
a substrate;
a first camera, mounted on the substrate and facing a first direction; and
a second camera, mounted on the substrate and facing the first direction,
wherein a first optical axis of the first camera and a second optical axis of the second camera are oblique with respect to a connection line between a lens center of the first camera and a lens center of the second camera, the first optical axis has a first constant included angle with respect to the connection line, the second optical axis has a second constant included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°.
3. The three-dimensional camera assembly according to claim 2 , wherein the first included angle is equal to the second included angle.
4. The three-dimensional camera assembly according to claim 3 , wherein the first camera and the second camera are disposed symmetrically with respect to an axis passing through a midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
5. The three-dimensional camera assembly according to claim 3 , wherein the first included angle is more than 70° and less than 90°.
6. The three-dimensional camera assembly according to claim 2 , wherein the first camera includes: a first lens group and a first image sensor; and
the second camera includes: a second lens group and a second image sensor.
7. The three-dimensional camera assembly according to claim 6 , further comprising: a viewing angle compensation lens group, configured to enhance an effective viewing angle of the three-dimensional camera assembly.
8. The three-dimensional camera assembly according to claim 3 , further comprising: a loading stage, disposed between the first and second cameras and the substrate,
wherein a surface provided with the first camera and a surface provided with the second camera of the loading stage are oblique with respect to the substrate, and are symmetrical with respect to an axis passing through a midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
9. The three-dimensional camera assembly according to claim 3 , further comprising: two loading stages, respectively disposed between the first camera and the substrate and the second camera and the substrate,
wherein a surface provided with the first camera and a surface provided with the second camera of the two loading stages are oblique with respect to the substrate, and are symmetrical with respect to an axis passing through a midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
10. The three-dimensional camera assembly according to claim 8 , wherein the substrate is a printed circuit board or a flexible circuit board.
11. The three-dimensional camera assembly according to claim 3 , further comprising: two printed circuit boards, each being oblique with respect to the substrate,
wherein one printed circuit board is provided with the first camera, and the other printed circuit board is provided with the second camera; and the two printed circuit boards are symmetrical with respect to an axis passing through a midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
12. The three-dimensional camera assembly according to claim 11 , wherein a surface provided with the first and second cameras of the substrate is provided with slopes which are symmetrical with respect to the axis passing through the midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
13. The three-dimensional camera assembly according to claim 11 , further comprising: two loading stages, respectively disposed between the two printed circuit boards and the substrate,
wherein a surface provided with the first camera and a surface provided with the second camera of the two loading stages are oblique with respect to the substrate, and are symmetrical with respect to the axis passing through the midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
14. The three-dimensional camera assembly according to claim 11 , further comprising: a loading stage, disposed between the two printed circuit boards and the substrate,
wherein a surface provided with the first camera and a surface provided with the second camera of the loading stage are oblique with respect to the substrate, and are symmetrical with respect to the axis passing through the midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.
15. The three-dimensional camera assembly according to claim 3 , wherein the first camera and the second camera are identical cameras.
16. A terminal apparatus, comprising: the three-dimensional camera assembly according to claim 2 .
17. The terminal apparatus according to claim 16 , further comprising: a housing, wherein the housing is provided with a camera hole formed therein, the three-dimensional camera assembly is disposed within the housing, and the first camera and the second camera are exposed to the outside through the camera hole.
18. The terminal apparatus according to claim 16 , further comprising: a housing, wherein the three-dimensional camera assembly is mounted outside the housing.