A method, apparatus, device and storage medium for structured light imaging processing

Abstract

The application discloses a kind of structural light imaging processing method, device and equipment and storage medium, relate to mobile terminal technical field, its method includes: the bending angle between first screen and second screen is acquired by double-screen terminal;The double-screen terminal determines the imaging mode corresponding to the bending angle according to the bending angle;The double-screen terminal carries out corresponding structural light imaging processing according to the imaging mode determined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile terminals, and in particular to a structured light imaging processing method, device, equipment and storage medium. BACKGROUND

[0002] With the rise of 3D modeling and biometrics in mobile communication terminal applications, structured light is increasingly used in 3D modeling. Apple has launched a feature called "Face ID" based on 3D structured light technology, mainly for daily unlocking and mobile payment. Although there are some limitations in the use of distance, but its unlocking speed is fast, the way is natural, I believe that every friend who is using iPhone X can empathize. From 2D plane to 3D world. Most of the front cameras and face recognition of today's mobile phones are achieved by a single camera, which is like covering one of our eyes, which can only record pure 2D images, but cannot distinguish the distance of objects. While for consumers, although the face and the finger are the same, they are one of the ways of body authentication, but 3D structured light can record a more secure and deeper dimensional data than traditional fingerprints. According to Apple, the encryption of Face ID based on 3D structured light has only one in ten million probability of being cracked, while the cracking rate of fingerprint recognition is as high as one in fifty thousand.

[0003] The current mainstream technology is a structured light module for a single screen. The structured light emitted from the structured light emitting unit is emitted through the face or other obstacles, and then captured by an infrared camera to perform 3D modeling.

[0004] According to the existing reference, the measurement principle of structured light vision system is described as follows:

[0005] The structured light vision measurement principle is shown in Figure 1 O c is the optical center of the camera, X c Y c Z c O c is the camera coordinate system; O p is the optical center of the projector, X p Y p Z p O p is the projector coordinate system.

[0006] Since the coordinates of the light plane projected by the projector in the projector coordinate system can be calculated by the parameters of the projector, and the light stripe projected on the measured object can be determined by the camera calibration to satisfy the relationship in the camera coordinate system, if the relative position relationship between the camera coordinate system and the projector coordinate system is known, the specific coordinates of the light stripe on the measured object in the camera coordinate system or the projector coordinate system can be solved. The calibration of the structured light vision and the coordinates of the grating points in the projector coordinate system are as follows:

[0007]

[0008] wherein T = [t x t y t z ] is the translation vector between the camera optical center and the projector optical center, R is the rotation matrix between the projector coordinate system and the camera coordinate system.

[0009] Influence of structure parameters on measurement accuracy

[0010] In order to find out the influence of the angle between the camera optical axis and the projector optical axis on the measurement accuracy, the error simulation diagram of the structured light vision measurement is drawn as shown in Figure 2 , in which the angle between the camera optical axis and the projector optical axis is α. The ideal horizontal coordinate of the space point P on the image is u x , and the actual horizontal coordinate of the space point P on the image is u x + δ due to the error of the image feature extraction. Wherein δ is the maximum feature extraction error. pp″ is parallel to the camera optical axis, and p″p′ is parallel to the X axis and perpendicular to the camera optical axis.

[0011] It can be known from Figure 2 that the measurement error of the Z axis caused by the feature extraction error can be represented by pp″, and the measurement error of the X axis can be represented by p″p′. It can be known from the figure that the measurement error of the X axis is proportional to the Z coordinate value and the size of the feature extraction error δ, and is inversely proportional to the camera focal length.

[0012]

[0013] It can be known from Figure 2 that the measurement error of the Z axis is proportional to the measurement error of the X axis, and then:

[0014]

[0015] From formula (2), formula (3), the angle between the camera main shaft and the projector main shaft has no effect on the measurement accuracy of the X-axis direction, but has an effect on the measurement accuracy of the Z-axis direction. When the angle between the two main shafts is less than 45°, the measurement error of the Z-axis direction increases sharply as the angle α decreases. When the angle between the two main shafts is greater than 45°, the measurement error of the Z-axis direction decreases slowly as the angle α increases. However, if the angle α is too large, the calibration accuracy will decrease significantly, so the angle cannot be too small and cannot be too large, and is usually selected to be about 45°.

[0016] The measurement accuracy of the structured light is limited by the effective distance of the infrared camera (receiving module) and the structured light emitting unit. The greater the effective distance, the more accurate the distance measurement. From the design of many mobile phone manufacturers at present, most of them place this structure in the forehead. In fact, the effective distance of the emitting unit and the receiving unit is relatively close. In this way, only when the mobile phone is very close to the face can a good distance measurement accuracy and 3D modeling effect be achieved. For a face that is slightly far away, or a person or object that is slightly far away, modeling cannot be performed. The use scenario is greatly limited.

[0017] The general width of a face is about 18 cm, and the distance between the camera and the projector in the structured light module of the current mainstream mobile phone is about 3 cm. Such a short effective distance will result in very low measurement accuracy for positions slightly far from the center of the face. Moreover, the mobile phone needs to be very close to the face to achieve a situation in which most of the angles of the projected structured light reaching the camera are within a reasonable range (for example, about 45 degrees for the best accuracy).

[0018] 1. When the mobile phone is too far from the face, the angle between the projected light and the reflected light is very low, resulting in a very large actual measurement error.

[0019] 2. When the mobile phone is close to the face, the angle is within a reasonable range, and the measurement accuracy is good, but the effective measurement range is small. If the mobile phone is not moved to different parts of the face, only a part of the face can be measured.

[0020] 3. The existing technology needs to perform a moving scanning action on the face by holding the mobile phone, which is relatively cumbersome.

[0021] To solve this problem, some related patents propose placing the structured light emitting and receiving units on both sides of the mobile phone to increase the effective distance. However, this does not fundamentally solve the distance limitation of structured light and the cumbersome operation of manually holding and rotating the mobile phone to several key positions for accurate modeling.

[0022] According to research results in the industry, the factors affecting the structured light accuracy error include the following:

[0023] 1) When the camera optical axis is perpendicular to the light plane, the measurement error in the depth direction is the smallest.

[0024] 2) The farther the distance between the camera and the optical projector, the smaller the measurement error.

[0025] 3) The smaller the camera lens magnification, the smaller the measurement error; this also means that the farther the measured object is from the camera, the larger the measurement error. SUMMARY

[0026] The technical problem solved by the scheme provided by the embodiment of the application is that precise modeling cannot be simply and effectively performed.

[0027] The method for structured light imaging processing provided by the embodiment of the application comprises the following steps:

[0028] The dual-screen terminal acquires the bending angle between the first screen and the second screen.

[0029] The dual-screen terminal determines the imaging mode corresponding to the bending angle according to the bending angle.

[0030] The dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode.

[0031] Preferably, before the dual-screen terminal acquires the bending angle between the first screen and the second screen, the method further comprises the following steps:

[0032] The dual-screen terminal divides the bending angle between the first screen and the second screen into a plurality of angle regions.

[0033] The dual-screen terminal generates an imaging correspondence relationship between the angle regions and the imaging modes by respectively setting corresponding imaging modes for each angle region.

[0034] When 180°≥the bending angle≥a first angle, the dual-screen terminal divides the bending angle into a first angle region, and the corresponding imaging mode is a long-distance imaging mode.

[0035] When the first angle>the bending angle≥a second angle, the dual-screen terminal divides the bending angle into a second angle region, and the corresponding imaging mode is a multiple imaging mode.

[0036] When the second angle>the bending angle≥0°, the dual-screen terminal divides the bending angle into a third angle region, and the corresponding imaging mode is a face-to-face imaging mode.

[0037] The first angle>the second angle.

[0038] Preferably, the dual-screen terminal determines an imaging mode corresponding to the bending angle according to the bending angle, which comprises:

[0039] The dual-screen terminal determines an angle region to which the bending angle belongs according to the bending angle;

[0040] The dual-screen terminal looks up an imaging mode corresponding to the determined angle region according to the imaging corresponding relationship.

[0041] Preferably, the first screen and the second screen of the dual-screen terminal are respectively provided with a projector and a camera; when the determined imaging mode is a long-distance imaging mode, the dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, which comprises:

[0042] The projector of the first screen of the dual-screen terminal emits a first structured light to the face of the user, so that the camera of the second screen receives the first structured light to obtain the three-dimensional coordinates (x1, y1, z1) of a first measuring point of the face of the user; meanwhile, the projector of the second screen emits a second structured light to the face of the user, so that the camera of the first screen receives the second structured light to obtain the three-dimensional coordinates (x2, y2, z2) of a second measuring point of the face of the user;

[0043] The dual-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point.

[0044] Preferably, the dual-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point, which comprises:

[0045] The dual-screen terminal calculates a distance between the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point, and judges whether the distance is less than a preset distance;

[0046] When it is judged that the distance is less than the preset distance, the dual-screen terminal calculates an average three-dimensional coordinate (x, y, z) of the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point;

[0047] The dual-screen terminal performs long-distance imaging modeling by using the average three-dimensional coordinate (x, y, z).

[0048] Preferably, when the determined imaging mode is a multiple imaging mode, the dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, which comprises:

[0049] The projector of the first screen of the dual-screen terminal projects first structured light to the face of the user, so that the camera of the second screen receives the first structured light to obtain three-dimensional coordinates (x1, y1, z1) of a first measuring point of the face of the user; meanwhile, the projector of the second screen projects second structured light to the face of the user, so that the camera of the first screen receives the second structured light to obtain three-dimensional coordinates (x2, y2, z2) of a second measuring point of the face of the user.

[0050] The dual-screen terminal performs multi-imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point.

[0051] Preferably, when the determined imaging mode is the face-to-face imaging mode, the dual-screen terminal performing corresponding structured light imaging processing according to the determined imaging mode comprises the following steps.

[0052] The projector of the first screen of the dual-screen terminal projects first structured light to the face of the first user, so that the camera of the first screen receives the first structured light to obtain three-dimensional coordinates (x1, y1, z1) of a measuring point of the face of the first user; meanwhile, the projector of the second screen projects second structured light to the face of the second user, so that the camera of the second screen receives the second structured light to obtain three-dimensional coordinates (x2, y2, z2) of a measuring point of the face of the second user.

[0053] The dual-screen terminal performs imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the measuring point of the face of the first user, and performs imaging modeling by using the three-dimensional coordinates (x2, y2, z2) of the measuring point of the face of the second user.

[0054] According to the embodiment of the present application, a device for structured light imaging processing is provided, which comprises:

[0055] The acquisition module is configured to acquire a bending angle between the first screen and the second screen.

[0056] The determination module is configured to determine an imaging mode corresponding to the bending angle according to the bending angle.

[0057] The imaging processing module is configured to perform corresponding structured light imaging processing according to the determined imaging mode.

[0058] According to the embodiment of the present application, a device for structured light imaging processing is provided, which comprises a processor and a memory coupled to the processor; the memory stores a program for structured light imaging processing, which can be run on the processor; when the program for structured light imaging processing is executed by the processor, the steps of the method for structured light imaging processing according to the embodiment of the present application are implemented.

[0059] According to the computer storage medium provided by the embodiment of the present application, the program of the structured light imaging processing is stored, and the program of the structured light imaging processing is executed by the processor to realize the steps of the method of the structured light imaging processing provided by the embodiment of the present application.

[0060] According to the scheme provided by the embodiment of the present application, the double screens and the shaft structure are fully utilized, so that the effective measurement distance and the measurement accuracy are greatly improved after the double structured light modules are used. BRIEF DESCRIPTION OF DRAWINGS

[0061] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and the description thereof are used to understand the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0062] Figure 1 is a structured light vision model schematic diagram provided by the prior art;

[0063] Figure 2 is a feature extraction error influence on measurement accuracy schematic diagram provided by the prior art;

[0064] Figure 3 is a structured light imaging processing method flowchart provided by the embodiment of the present application;

[0065] Figure 4 is a structured light imaging processing device schematic diagram provided by the embodiment of the present application;

[0066] Figure 5 is a long-distance face modeling schematic diagram provided by the embodiment of the present application;

[0067] Figure 6 is a multiple face modeling schematic diagram provided by the embodiment of the present application;

[0068] Figure 7 is a face-to-face face modeling schematic diagram provided by the embodiment of the present application. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present application are described in detail below with reference to the drawings, and it should be understood that the preferred embodiments described below are only used to illustrate and explain the present application, and do not limit the present application.

[0070] Figure 3 is a structured light imaging processing method flowchart provided by the embodiment of the present application, as shown in Figure 3 , including:

[0071] Step S101: The double-screen terminal acquires the bending angle between the first screen and the second screen;

[0072] Step S102: The dual-screen terminal determines an imaging mode corresponding to the bending angle according to the bending angle.

[0073] Step S103: The dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode.

[0074] Before the dual-screen terminal acquires the bending angle between the first screen and the second screen, the method further includes: the dual-screen terminal divides the bending angle between the first screen and the second screen into a plurality of angle regions; the dual-screen terminal generates an imaging correspondence relationship between the angle regions and imaging modes by respectively setting corresponding imaging modes for each angle region; when 180°≥bending angle≥first angle, the dual-screen terminal divides the bending angle into a first angle region, and the corresponding imaging mode is a long-distance imaging mode; when first angle> bending angle≥second angle, the dual-screen terminal divides the bending angle into a second angle region, and the corresponding imaging mode is a multiple imaging mode; when second angle> bending angle≥0°, the dual-screen terminal divides the bending angle into a third angle region, and the corresponding imaging mode is a face-to-face imaging mode; wherein the first angle> the second angle.

[0075] The dual-screen terminal determines an imaging mode corresponding to the bending angle according to the bending angle includes: the dual-screen terminal determines an angle region to which the bending angle belongs according to the bending angle; and the dual-screen terminal looks up the imaging mode corresponding to the determined angle region according to the imaging correspondence relationship.

[0076] The first screen and the second screen of the double-screen terminal are respectively provided with a projector and a camera; when the determined imaging mode is a long-distance imaging mode, the double-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: the projector of the first screen of the double-screen terminal emits first structured light to the face of the user, so that the camera of the second screen receives the first structured light, and obtains the three-dimensional coordinates (x1, y1, z1) of the first measurement point of the face of the user; at the same time, the projector of the second screen emits second structured light to the face of the user, so that the camera of the first screen receives the second structured light, and obtains the three-dimensional coordinates (x2, y2, z2) of the second measurement point of the face of the user; the double-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point. Specifically, the double-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point, including: the double-screen terminal calculates the distance between the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point, and judges whether the distance is less than a preset distance; when it is judged that the distance is less than the preset distance, the double-screen terminal calculates the average three-dimensional coordinates (x, y, z) of the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point; the double-screen terminal performs long-distance imaging modeling by using the average three-dimensional coordinates (x, y, z).

[0077] When the determined imaging mode is a multiple imaging mode, the double-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: the projector of the first screen of the double-screen terminal emits first structured light to the face of the user, so that the camera of the second screen receives the first structured light, and obtains the three-dimensional coordinates (x1, y1, z1) of the first measurement point of the face of the user; at the same time, the projector of the second screen emits second structured light to the face of the user, so that the camera of the first screen receives the second structured light, and obtains the three-dimensional coordinates (x2, y2, z2) of the second measurement point of the face of the user; the double-screen terminal performs multiple imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point.

[0078] When the determined imaging mode is the face-to-face imaging mode, the double-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: the projector of the first screen of the double-screen terminal makes the camera of the first screen receive first structured light by emitting the first structured light to the face of the first user, to obtain three-dimensional coordinates (x1, y1, z1) of a measurement point of the face of the first user, while the projector of the second screen makes the camera of the second screen receive second structured light by emitting the second structured light to the face of the second user, to obtain three-dimensional coordinates (x2, y2, z2) of a measurement point of the face of the second user; the double-screen terminal performs imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the measurement point of the face of the first user, and performs imaging modeling by using the three-dimensional coordinates (x2, y2, z2) of the measurement point of the face of the second user.

[0079] Figure 4 is a device schematic diagram of a structured light imaging processing provided by an embodiment of the application, as shown in the figure, including: an acquisition module 401, a determination module 402, and an imaging processing module 403. Figure 4

[0080] The acquisition module 401 is configured to acquire a bending angle between the first screen and the second screen; the determination module 402 is configured to determine an imaging mode corresponding to the bending angle according to the bending angle; and the imaging processing module 403 is configured to perform corresponding structured light imaging processing according to the determined imaging mode.

[0081] According to the device for structured light imaging processing provided by the embodiment of the application, the device includes a processor and a memory coupled with the processor; the memory has a structured light imaging processing program capable of running on the processor, and the structured light imaging processing program is executed by the processor to implement the steps of the method for structured light imaging processing provided by the embodiment of the application.

[0082] According to the computer storage medium provided by the embodiment of the application, the storage medium stores a structured light imaging processing program, and the structured light imaging processing program is executed by a processor to implement the steps of the method for structured light imaging processing provided by the embodiment of the application.

[0083] ​The double-screen terminal has two structured light modules (including projectors and cameras) respectively installed on the two screens of the double-screen terminal. An angle sensor is arranged at the rotation shaft of the double-screen terminal to sense the current bending angle of the double screens of the terminal by the user. Specifically, when the bending angle is within a certain range or the face distance from the mobile phone is within a certain range, the structured light emitted by the first structured light module projector is received by the camera of the second structured light module, and the camera of the first structured light module is closed, and the structured light emitted by the second structured light module projector is received by the camera of the first structured light module, and then a 3D model is established after measurement. When the bending angle is within another range or the face distance is within a certain range, the structured light emitted by the two structured light modules is respectively received by the camera of the structured light module, and then two 3D models are respectively established.

[0084] The embodiment of the application defines the bending angle between the two screens of the double-screen mobile phone as gamma, wherein gamma is 180, representing that the two screens of the mobile phone are in a plane.

[0085] Embodiment 1: Long-distance face modeling (long-distance imaging mode), as shown in Figure 5 As the effective distance between the projector and the camera is increased, accurate measurement can be performed even when the face is far away (the angle can be accurately measured even when the face is far away).

[0086] Step 1: When gamma is 180 degrees, the mobile phone is horizontal and faces the face.

[0087] Step 2: The projector of the left screen starts to emit structured light, and the camera of the right screen starts to receive the structured light and calculates the three-dimensional coordinates of any point on the face, which is assumed to be (x1, y1, z1).

[0088] Step 3: The projector of the right screen starts to emit structured light, and the camera of the left screen starts to receive the structured light and calculates the three-dimensional coordinates of any point on the face, which is assumed to be (x2, y2, z2).

[0089] Step 4: Start to perform more accurate modeling of the two sets of data, because step 2 and step 3 are equivalent to two times of grid division and measurement on the face. Then the results of the two measurements are averaged again, which further reduces the measurement error in the x, y and z directions. Direct averaging calculation can be performed:

[0090] In the adjacent two measurement results, when the distance between the two measurement points is less than a certain threshold Dt, wherein D is the direct vector length of the two points, which is defined as:

[0091]

[0092] The following homogenization operation is performed:

[0093] (x, y, z) = ((x1+x2) / 2, (y1+y2) / 2, (z1+z2) / 2)

[0094] The resulting series of coordinate values (x, y, z) then constitute highly accurate face modeling data.

[0095] Example 2: Mobile phone anti-peeping (multi-imaging mode), as shown in Figure 6

[0096] Step 1: Assume that when the gamma angle is around 155 degrees to 90 degrees, the mobile phone enters the multi-face detection mode.

[0097] Step 2: The left screen's projector begins to emit structured light, and the right screen's camera begins to receive the structured light and calculates the three-dimensional coordinates of any point on the face, assumed to be (x3, y3, z3).

[0098] Step 3: The right screen's projector begins to emit structured light, and the left screen's camera begins to receive the structured light and calculates the three-dimensional coordinates of any point on the face, assumed to be (x4, y4, z4).

[0099] Step 4: Face recognition is performed, and if multiple faces appear, the values of x, y, and z should satisfy certain patterns. For example, after a large fluctuation in x, y, and z (such as the direct gap between faces), a similar face change pattern appears. If the user is normally viewing private content, the user is prompted that someone behind or to the side may be peeping.

[0100] Example 3: Face-to-face dual face recognition (face-to-face imaging mode), as shown in Figure 7 , which can simultaneously recognize two faces, such as the faces of two girls, and provide interesting analysis of the two face shapes, as well as plastic surgery opinions, etc.

[0101] Step 1: Assume that when the gamma angle is around 45 degrees to 0 degrees, the mobile phone enters the face-to-face dual face detection mode. Unlike Examples 1 and 2, in this scenario, the two sets of structured light modules operate independently and recognize two faces respectively.

[0102] Step 2: The left screen's projector emits structured light, which is received by the left screen's camera, forming data (x5, y5, z5).

[0103] Step 3: The right screen's projector emits structured light, which is received by the right screen's camera, forming data (x6, y6, z6).​

[0104] Step4: For the two sets of data sent to the corresponding modeling application, give two faces of the difference, or other useful suggestions. For example, a beautiful girl and a girl with ordinary appearance, can give the girl with ordinary appearance plastic surgery recommendations, etc.

[0105] According to the scheme provided by the embodiment of the present application, higher precision measurement and modeling of different distances can be adapted, since the shaft angle and the mobile phone shape parameters are all known conditions, the relative positions of the transmitting unit and the receiving unit under each rotation angle can be accurately obtained, so that the measurement can be accurately performed in various rotation conditions, and the action of the user having to rotate around the face is saved, and the user friendliness is stronger. And different structured light modeling schemes can be customized for users according to different bending angles, so as to be applied to different scenes, and the application scenarios are more colorful.

[0106] Although the present application has been described in detail above, the present application is not limited thereto, and those skilled in the art can make various modifications according to the principles of the present application. Therefore, any modification made according to the principles of the present application should be understood as falling within the scope of the present application.

Claims

1. A method of structured light imaging processing, the method comprising: The method comprises the following steps: A dual-screen terminal acquires a bending angle between a first screen and a second screen, wherein a projector and a camera are respectively arranged on the first screen and the second screen of the dual-screen terminal; The dual-screen terminal determines an imaging mode corresponding to the bending angle according to the bending angle, wherein when 180°≥the bending angle≥a first angle, the dual-screen terminal divides the bending angle into a first angle region, and the corresponding imaging mode is a long-distance imaging mode; when the first angle>the bending angle≥a second angle, the dual-screen terminal divides the bending angle into a second angle region, and the corresponding imaging mode is a multiple imaging mode; when the second angle>the bending angle≥0°, the dual-screen terminal divides the bending angle into a third angle region, and the corresponding imaging mode is a face-to-face imaging mode; wherein the first angle>the second angle; When the bending angle is in the first angle region, the determined imaging mode is a long-distance imaging mode, and the dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, comprising: The projector of the first screen of the dual-screen terminal emits a first structured light to the face of a user, so that the camera of the second screen receives the first structured light to obtain the three-dimensional coordinates (x1, y1, z1) of a first measuring point of the face of the user, and at the same time, the projector of the second screen emits a second structured light to the face of the user, so that the camera of the first screen receives the second structured light to obtain the three-dimensional coordinates (x2, y2, z2) of a second measuring point of the face of the user; The dual-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point; wherein the dual-screen terminal performs long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point comprises: the dual-screen terminal calculates the distance between the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point, and judges whether the distance is less than a preset distance; when it is judged that the distance is less than the preset distance, the dual-screen terminal calculates the average three-dimensional coordinates (x, y, z) of the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point; the dual-screen terminal performs long-distance imaging modeling by using the average three-dimensional coordinates (x, y, z).

2. The method of claim 1, wherein, Before the dual-screen terminal acquires the bending angle between the first screen and the second screen, the method further comprises: The dual-screen terminal divides the bending angle between the first screen and the second screen into a plurality of angle regions; The dual-screen terminal generates an imaging corresponding relationship between the angle regions and the imaging modes by respectively setting corresponding imaging modes for each angle region.

3. The method of claim 2, wherein, The dual-screen terminal determines an imaging mode corresponding to the bending angle according to the bending angle comprises: The double-screen terminal determines an angle region to which the bending angle belongs according to the bending angle; The double-screen terminal looks up an imaging mode corresponding to the determined angle region according to the imaging correspondence.

4. The method of claim 1, wherein, When the bending angle is located in the second angle region, the determined imaging mode is a multiple imaging mode, and the double-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: The projector of the first screen of the double-screen terminal makes the camera of the second screen receive the first structured light to obtain three-dimensional coordinates (x1, y1, z1) of a first measuring point of the user's face, while the projector of the second screen makes the camera of the first screen receive the second structured light to obtain three-dimensional coordinates (x2, y2, z2) of a second measuring point of the user's face; The double-screen terminal performs multiple imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measuring point and the three-dimensional coordinates (x2, y2, z2) of the second measuring point.

5. The method of claim 1, wherein, When the bending angle is located in the third angle region, the determined imaging mode is a face-to-face imaging mode, and the double-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: The projector of the first screen of the double-screen terminal makes the camera of the first screen receive the first structured light to obtain three-dimensional coordinates (x1, y1, z1) of a measuring point of the first user's face, while the projector of the second screen makes the camera of the second screen receive the second structured light to obtain three-dimensional coordinates (x2, y2, z2) of a measuring point of the second user's face; The double-screen terminal performs imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the measuring point of the first user's face and the three-dimensional coordinates (x2, y2, z2) of the measuring point of the second user's face.

6. An apparatus for structured light imaging processing, the apparatus comprising: including: An acquisition module is configured to acquire a bending angle between a first screen and a second screen, wherein a projector and a camera are arranged on the first screen and the second screen, respectively; A determination module is configured to determine an imaging mode corresponding to the bending angle according to the bending angle, wherein when 180°≥ the bending angle≥ a first angle, the double-screen terminal divides the bending angle into a first angle region, and the corresponding imaging mode is a long-distance imaging mode; when the first angle> the bending angle≥ a second angle, the double-screen terminal divides the bending angle into a second angle region, and the corresponding imaging mode is a multiple imaging mode; when the second angle> the bending angle≥ 0°, the double-screen terminal divides the bending angle into a third angle region, and the corresponding imaging mode is a face-to-face imaging mode; wherein the first angle> the second angle; The imaging processing module is configured to, when the bending angle is located in the first angle region, determine the imaging mode as a long-distance imaging mode, and the dual-screen terminal performs corresponding structured light imaging processing according to the determined imaging mode, including: using the projector of the first screen to emit first structured light to the face of the user, so that the camera of the second screen receives the first structured light to obtain the three-dimensional coordinates (x1, y1, z1) of a first measurement point of the face of the user, and simultaneously using the projector of the second screen to emit second structured light to the face of the user, so that the camera of the first screen receives the second structured light to obtain the three-dimensional coordinates (x2, y2, z2) of a second measurement point of the face of the user; When the determined imaging mode is the long-distance imaging mode, the imaging processing module is further configured to perform long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point; wherein the dual-screen terminal performing long-distance imaging modeling by using the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point includes: the dual-screen terminal calculating a distance between the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point, and determining whether the distance is less than a preset distance; when it is determined that the distance is less than the preset distance, the dual-screen terminal calculates average three-dimensional coordinates (x, y, z) of the three-dimensional coordinates (x1, y1, z1) of the first measurement point and the three-dimensional coordinates (x2, y2, z2) of the second measurement point; and the dual-screen terminal performs long-distance imaging modeling by using the average three-dimensional coordinates (x, y, z).

7. An apparatus for structured light imaging processing, the apparatus comprising: The device includes a processor and a memory coupled to the processor; the memory stores a structured light imaging processing program executable on the processor, and the structured light imaging processing program, when executed by the processor, implements the steps of the structured light imaging processing method of any one of claims 1 to 5.

8. A computer storage medium, characterized in that, The storage medium stores a structured light imaging processing program, and the structured light imaging processing program, when executed by a processor, implements the steps of the structured light imaging processing method of any one of claims 1 to 5.

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