Distributed out-of-focus stereo camera

Abstract

The invention discloses a distributed out-of-focus stereo camera, and relates to the technical field of computational photography and depth measurement. An existing photogrammetry system obtains the scene depth mainly by collecting a clear image or an image stack, the depth obtained by using the clear image is often relative depth and is not high in precision, and a method for obtaining the depth by using a focus stack is complex in operation, low in calculation speed, high in cost and poor in practicability. According to the invention, dense and accurate depth can be obtained with low cost and simple operation, and the problem is effectively solved. The camera comprises a distributed defocus acquisition device, a calculation control system and a depth measurement method. Wherein the acquisition device comprises a spectroscope device, a lens group, an aperture, a focusing device, a distance measuring device and a photosensitive imaging device, and is used for acquiring a clear image, two blurred images and a focusing distance of a scene. And the calculation control system calculates the scene depth by using the scene data acquired by the distributed defocus acquisition device according to a corresponding depth measurement method.

Description

Technical Field

[0001] The present application relates to the technical fields of computational photography and depth measurement, and in particular to a distributed defocus stereo camera. Background Art

[0002] A distributed defocus stereo camera is a system that uses a beam splitter device to divide the scene input light into three groups of light paths, and through corresponding focusing and imaging devices, achieves secondary focus imaging of the same scene, obtains a clear image of the scene at the same viewing angle and two blurred images with different focus distances. It is also a stereo camera that uses a corresponding depth measurement method to compare and calculate the data obtained by the acquisition device to obtain the scene depth. The current depth measurement systems mainly include lidar systems, structured light systems, and binocular stereo vision systems. The lidar system is expensive and complex in equipment, and can only obtain sparse scene depths. The structured light system is complex to operate and requires active projection, and cannot solve problems such as reflection and light transmittance, and the measurement distance is limited by the projection equipment. Binocular stereo vision uses the parallax of two pictures to obtain the scene depth based on the principle of triangulation. It has high computational complexity and high requirements for feature extraction and matching. It cannot solve occlusion problems and cannot obtain the depth of the entire shooting scene.

[0003] Existing photogrammetry systems mainly acquire scene depth by collecting clear images or picture stacks; methods that use neural networks to estimate scene depth using depth clues in the collected clear images often can only acquire the relative depth of the scene, and the acquired depth accuracy is not high; methods that acquire depth by collecting picture stacks and focus stacks and finding the location of clear points in the picture stacks are complex to operate, slow to calculate, and poor in practicality, and cannot be widely used. In view of the high cost, complex operation, sparse depth acquisition or low depth accuracy of existing acquisition and measurement systems, the distributed defocus stereo camera acquires a clear image of the scene, two blurry images at different focus distances, and the corresponding focus distances, and uses the point spread function (PSF) to acquire scene depth by comparative calculation, which can acquire dense and high-precision scene depth at a low cost and simple operation, effectively solving the problems existing in existing acquisition and measurement systems. Summary of the invention

[0004] The present application provides a distributed defocus stereo camera to solve the problems of existing acquisition and measurement systems, such as high cost, complex operation, sparse depth acquisition or low depth accuracy.

[0005] According to another aspect of the present application, a distributed defocus acquisition device is provided. The distributed defocus acquisition device includes a spectroscope device, a lens group, an aperture, a focusing device, a distance measuring device, and a photosensitive imaging device. The spectroscope device is used to separate the light incident from the shooting scene into three groups of light paths; the lens group is used to converge the light on the photosensitive imaging device; the aperture is located after the lens group and is used to adjust the light transmittance of the lens to adjust the shooting depth of field; the focusing device is located between the lens group and the photosensitive imaging device and is used to adjust the distance between the lens group and the photosensitive imaging device, thereby adjusting the focus distance during shooting; the distance measuring device is used to measure the distance from the lens group to the photosensitive imaging device to obtain the focus distance of the two pictures; the photosensitive imaging device is used for scene imaging to obtain the corresponding pictures.

[0006] Optionally, the spectroscope device also includes any one of the following: a flat-plate spectroscope, which can split the incident light of the scene into two according to a given angle and a specified ratio to obtain two sets of required light paths; a cube spectroscope, which can split the incident light of the scene into two according to a given angle and a specified ratio to obtain two sets of required light paths.

[0007] Optionally, the focusing device also includes any one of the following: a set of focusing devices, which is located in three groups of light paths at the same time, and can adjust the distance between the lens group and the photosensitive imaging device in each group of light paths respectively, thereby adjusting the focusing distance of shooting; multiple sets of focusing devices, which are respectively located in each group of light paths, and can adjust the distance between the lens group and the photosensitive imaging device in each group of light paths separately, thereby adjusting the focusing distance of shooting.

[0008] Optionally, the distance measuring device also includes any one of the following: a laser distance measuring device, the measurement accuracy of which meets the requirements and can obtain the distance from the lens group to the photosensitive imaging device; an infrared distance measuring device, the measurement accuracy of which meets the requirements and can obtain the distance from the lens group to the photosensitive imaging device.

[0009] According to another aspect of the present application, a depth measurement method is provided. The method includes: using the distributed defocus acquisition device to collect a clear image with the same brightness and near-sightedness under the same scene and the same viewing angle, a blurred image with the focus in front, a blurred image with the focus in the back, and the focus distances of the two blurred images; giving an initial scene depth; the clear image is combined with the given initial scene depth and focus distance 1 to generate a blurred image of the shooting scene at focus distance 1 through a point spread function camera model; the clear image is combined with the given initial scene depth and focus distance 2 to generate a blurred image of the shooting scene at focus distance 2 through a point spread function camera model; comparing and calculating the distributed defocus at focus distance 1

[0010] The difference between the real blur image collected by the acquisition device and the blur image generated by the point spread function camera model; the difference between the real blur image collected by the distributed defocus acquisition device at focus distance 2 and the blur image generated by the point spread function camera model is compared and calculated; the initial scene depth is optimized based on the difference between the two groups of pictures at focus distance 1 and focus distance 2 to obtain a more accurate scene depth.

[0011] According to another aspect of the present application, a distributed defocus stereo camera is provided. The distributed defocus stereo camera comprises: a distributed defocus acquisition device, which is the distributed defocus acquisition device of any one of claims 4 to 9; a computing control system, which is used to control the distributed defocus acquisition device to acquire data such as a clear image, two blurred images, and a focus distance of a shooting scene, calculate the scene depth using the depth measurement method, and store and display the scene depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0013] Figure 1 It is a schematic diagram of a distributed defocus acquisition device provided according to an embodiment of the present application.

[0014] Figure 2 is a schematic diagram of a distributed defocus stereo camera provided according to an embodiment of the present application.

[0015] Figure 3 is a schematic diagram of an optional distributed defocus acquisition device provided according to an embodiment of the present application Figure 1 .

[0016] Figure 4 is a schematic diagram of an optional distributed defocus acquisition device provided according to an embodiment of the present application Figure 2 .

[0017] Figure 5 It is a schematic diagram of a depth measurement method provided according to an embodiment of the present application.

[0018] Figure 6 It is a schematic diagram of an optional distributed defocus stereo camera provided according to an embodiment of the present application.

[0019] The drawings in the appeal include the following reference numerals:

[0020] 1a, spectroscope device 1; 1b, spectroscope device 2; 2a, lens group 1; 2b, lens group 2; 2c, lens group 3; 3a, aperture 1; 3b, aperture 2; 3c, aperture 3; 4a, distance measuring device 1; 4b, distance measuring device 2; 4c, distance measuring device 3; 5a, focusing device 1; 5b, focusing device 2; 5c, focusing device 3; 5d, focusing device 4; 6a, photosensitive imaging device 1; 6b, photosensitive imaging device 2; 6c, photosensitive imaging device 3; 7, computing control system. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. In order to make the purpose, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0023] The terms "1", "2", etc. in the specification and drawings of the present application are used to distinguish similar or similar objects or entities, and are not necessarily meant to limit a specific order or sequence, unless otherwise specified.

[0024] According to an embodiment of the present application, a distributed defocus acquisition device is provided.

[0025] Figure 1 Schematic diagram of a distributed defocus acquisition device according to an embodiment of the present application. Figure 1 As shown, the distributed defocus acquisition device includes: a spectroscope device, a lens group and an aperture, a focusing and ranging device, and a photosensitive imaging device.

[0026] The beam splitter device is used to divide the incident light from the scene into three groups of light paths according to a given angle and a specified ratio.

[0027] A lens group and an aperture are arranged in each light path, wherein the lens group is used to converge the image, and the aperture is used to adjust the amount of light passing through each light path and the depth of field of the shooting, so that the acquisition device can obtain clear and blurred images of the scene.

[0028] The focusing and distance measuring device is arranged in each optical path and is used to adjust and measure the focusing distance of the acquisition device.

[0029] The photosensitive imaging device is arranged in each light path group and is used for scene photosensitive imaging.

[0030] In an optional example, the beam splitter device may be a flat beam splitter or a cube beam splitter, which can split the incident light of the scene into two groups of light paths according to a given angle and a specified ratio.

[0031] In an optional example, the aperture can be arbitrarily adjusted within an adjustable range to obtain a clear image corresponding to the shooting scene or a blurred image with different depths of field.

[0032] In an optional example, the focusing device may be located in one group of optical paths alone or in multiple groups of optical paths at the same time. When the focusing device is located in multiple groups of optical paths at the same time, the focusing device can adjust the distance between the lens group and the photosensitive imaging device in each group of optical paths respectively; when the focusing device is located in one group of optical paths alone, the focusing device adjusts the distance between the lens group and the photosensitive imaging device in the group of optical paths alone;

[0033] In an optional example, the distance measuring device may be a laser distance measuring device or an infrared distance measuring device, which can obtain the distance from the lens group to the photosensitive imaging device.

[0034] In an optional example, the photosensitive chip in the photosensitive imaging device may be a CCD or a CMOS.

[0035] Figure 3 is a schematic diagram of an optional distributed defocus acquisition device provided according to an embodiment of the present application. Figure 3 As shown, the light splitting path collection device includes a spectroscope device 1, a spectroscope device 2, a lens group 1, a lens group 2, a lens group 3, an aperture 1, an aperture 2, an aperture 3, a focusing device 1, a focusing device 2, a focusing device 3, a distance measuring device 1, a distance measuring device 2, a distance measuring device 3, a photosensitive imaging device 1, a photosensitive imaging device 2, and a photosensitive imaging device 3.

[0036] The collection process of the distributed defocus collection device is as follows:

[0037] The beam splitter device 1 evenly splits the light incident from the shooting scene into two to obtain the light path 1 and the light path 2;

[0038] The lens group 1 is located in the optical path 1, and converges the light in the optical path 1 into the photosensitive imaging device 1;

[0039] Aperture 1 is located behind lens group 1. Adjust aperture 1 to the minimum to minimize the light passing through the lens and maximize the depth of field to obtain a clear picture of the shooting scene.

[0040] Adjust the focusing device 1 in the optical path 1 so that the acquisition device in the optical path 1 is focused at a suitable position, so that the acquired picture is a full-clear picture;

[0041] The distance measuring device 1 in the optical path 1 measures the distance between the lens group 1 and the photosensitive imaging device 1 to obtain the focus distance for shooting;

[0042] The photosensitive imaging device 1 in the optical path 1 performs photosensitive imaging to obtain a clear image of the shooting scene;

[0043] The optical path 2 is split into two by the beam splitter device 2, obtaining the optical path 3 and the optical path 4;

[0044] The lens group 2 is located in the optical path 3, and converges the light in the optical path 3 into the photosensitive imaging device 2;

[0045] Aperture 2 is located behind lens group 2. Aperture 2 is adjusted to the maximum, so that the light transmission of the lens is adjusted to the maximum and the depth of field is adjusted to the minimum to obtain a blurred image of the shooting scene;

[0046] Adjust the focusing device 2 in the optical path 3 so that the acquisition device in the optical path 3 focuses in front of the photographed object to obtain a blurred image with the focus in front, which is called blurred Figure 1 ;

[0047] The distance measuring device 2 in the optical path 3 measures the distance between the lens group 2 and the photosensitive imaging device 2 to obtain the blurred image. Figure 1 Corresponding focus distance;

[0048] The photosensitive imaging device 2 in the optical path 3 senses light and forms an image, and obtains the blurred Figure 1 ;

[0049] The lens group 3 is located in the optical path 4, and converges the light in the optical path 4 into the photosensitive imaging device 3;

[0050] Aperture 3 is located behind lens group 3. Aperture 3 is adjusted to the maximum, so that the light transmission of the lens is adjusted to the maximum and the depth of field of the shooting is adjusted to the minimum, so as to obtain a blurred image of the shooting scene;

[0051] Adjust the focusing device 3 in the optical path 4 so that the acquisition device in the optical path 4 focuses behind the photographed object to obtain a blurred image focused behind the object, which is called blurred Figure 2 ;

[0052] The distance measuring device 3 in the optical path 4 measures the distance between the lens group 3 and the photosensitive imaging device 3 to obtain the blurred image. Figure 2 Corresponding focus distance;

[0053] The photosensitive imaging device 3 in the optical path 4 senses light and forms an image, and obtains the blurred Figure 2 ;

[0054] It should be noted that the beam splitter device 1 and the beam splitter device 2 are not limited to uniform division when dividing the light path. When the division is not uniform, the exposure time of the photosensitive imaging device can be adjusted to make the comprehensive brightness of the pictures obtained by each group of light paths close to the same.

[0055] It should be noted that descriptions such as "optical path 1", "optical path 2", "optical path 3", and "optical path 4" are only for distinguishing between groups of optical paths, rather than limiting a specific order. A clear image can be obtained by optical path 1, or by optical path 3 or optical path 4. Similarly, a blurred image can also be obtained by other optical paths, and is not limited to a specific optical path to obtain a specific image.

[0056] Optionally, the lens group 1, lens group 2 and lens group 3 may be the same or different.

[0057] Optionally, the aperture 1, aperture 2 and aperture 3 may be the same or different.

[0058] Optionally, the focusing device 1, the focusing device 2 and the focusing device 3 may be the same or different.

[0059] Optionally, the distance measuring device 1, the distance measuring device 2, and the distance measuring device 3 may all be laser distance measuring devices, infrared distance measuring devices, or a combination of a laser distance measuring device and an infrared distance measuring device.

[0060] The optional photosensitive imaging device 1, photosensitive imaging device 2 and photosensitive imaging device 3 may all be CCD chips, CMOS chips or a combination of CCD and CMOS.

[0061] The distributed defocus acquisition device provided in the embodiment of the present application simultaneously acquires a clear image of the same scene and the same viewing angle, a blurred image with the focus in front, a blurred image with the focus in the back, and a focusing distance through image acquisition devices such as a spectroscope device and a lens group, thereby solving the problem that it is difficult for existing photographic acquisition devices to simultaneously acquire a clear image of the same scene and the same viewing angle, two blurred images, and a focusing distance, and the cost of acquiring a clear image of the same scene and the same viewing angle, two blurred images, and a focusing distance is high.

[0062] At this time, the distributed defocus acquisition device also has the following features: 1. Low hardware cost; 2. Miniaturization of equipment; 3. Easy operation; 4. Fast acquisition speed. This solves the problem that the existing photography acquisition device has a high cost for obtaining clear images, blurred images and focus distances in the same scene and the same viewing angle.

[0063] Figure 4 is a schematic diagram of another optional distributed defocus acquisition device provided according to an embodiment of the present application, and its working principle and required devices are similar to Figure 3 The distributed defocus acquisition device shown is similar, the main difference is Figure 4The distributed defocus acquisition device has only two focusing devices. Focusing device 1 is located in optical path 1, and adjusts the focusing distance in optical path 1 to obtain a suitable clear image. Focusing device 4 is located in both optical path 3 and optical path 4, and can adjust the distance from the lens group to the photosensitive imaging device in optical path 3 and optical path 4 respectively, and adjust the focusing distance of the two groups of optical paths.

[0064] It should be noted that the focusing device 1 and the focusing device 4 in the distributed defocus acquisition device are not limited to specific optical paths. The focusing device 1 is used to adjust one group of optical paths, and the focusing device 4 is used to adjust the other two groups of optical paths. The adjusting device 4 can adjust the optical path 1 and the optical path 3 or the optical path 1 and the optical path 4, and is not limited to a specific optical path.

[0065] Apart from Figure 3 , Figure 4 In addition to the two distributed defocus acquisition devices shown, the distributed defocus acquisition device can also be composed of a focusing device and other corresponding equipment. The main difference is that a focusing device is located in three groups of optical paths at the same time, and can adjust the focusing distance of each group of optical paths respectively.

[0066] The embodiment of the present application also provides a depth measurement method. It should be noted that the distributed defocus depth measurement system of the embodiment of the present application can be used to execute the depth measurement method provided by the embodiment of the present application. The depth measurement method provided by the embodiment of the present application is introduced below.

[0067] Figure 5 is a schematic diagram of a depth measurement method according to an embodiment of the present application. Figure 5 As shown in FIG. 1 , the depth measurement method uses a clear image, a blurred image with the focus in front, a blurred image with the focus in the back, and the focus distance of the two blurred images to calculate the scene depth. The blurred image with the focus in front is called the blurred image. Figure 1 , the corresponding focus distance is called focus distance 1, and the blurred image after focusing is called blurred Figure 2 , and its corresponding focus distance is called focus distance 2. The specific implementation process of the depth measurement method is as follows:

[0068] Arbitrarily give a suitable initial scene depth;

[0069] The scene clarity image collected by the distributed defocus acquisition system is combined with the initial scene depth and the focus distance 1 to obtain the generated blur of the scene at the focus distance 1 through the PSF camera model. Figure 1 ;

[0070] The clear image is combined with the initial scene depth and focus distance 2 to calculate the generated blur of the scene at focus distance 2 through the PSF camera model. Figure 2 ;

[0071] The real blur collected by the distributed defocus collection system Figure 1 The generated blur obtained by the PSF camera model at the initial scene depth Figure 1 Perform comparative calculations;

[0072] The real blur collected by the distributed defocus collection system Figure 2 The generated blur obtained by the PSF camera model at the initial scene depth Figure 2 Perform comparative calculations;

[0073] Combine the two sets of comparative calculation results to optimize and update the initial depth;

[0074] After optimization, a more accurate scene depth is obtained.

[0075] The depth measurement method provided in the embodiment of the present application uses a clear image, a blurred image with the focus in front, a blurred image with the focus in the back, and the focus distance of the blurred image to obtain the scene depth through simple calculation, thereby solving the problems of low accuracy and complex implementation of methods such as using clear images or focus stacks to obtain depth.

[0076] The present application also provides a distributed defocus depth measurement system. Figure 2 , Figure 6 is a schematic diagram of a light splitting path depth measurement system according to an embodiment of the present application.

[0077] like Figure 6 As shown, the distributed defocus depth measurement system includes a distributed defocus acquisition device and a computing control system, and its specific implementation process is as follows:

[0078] The distributed defocus acquisition device is selected and aligned with the scene to be measured;

[0079] Adjust the aperture 1 in optical path 1 to the minimum, and adjust the apertures in optical paths 3 and 4 to the maximum;

[0080] The computing control system controls three photosensitive imaging devices to obtain a clear image of the shooting scene, a blurred image with the focus in front, a blurred image with the focus in the back and corresponding focus distances;

[0081] The collected clear image, two blurred images and focus distance are transmitted to the computing control system;

[0082] The calculation control system compares and calculates the comprehensive brightness of the three images;

[0083] The computing control system adjusts the exposure time of each photosensitive imaging device according to the comparison result, and controls the photosensitive imaging device to image again, so as to obtain a clear image with nearly uniform comprehensive brightness, a blurred image with the focus in front, and a blurred image with the focus in the back;

[0084] The collected clear image, two blurred images and focus distance are again transmitted to the computing control system for storage and calculation;

[0085] The computing control system uses the data collected by the distributed defocus acquisition device to compare and calculate a more accurate scene depth according to the depth measurement method;

[0086] The computing control system stores and displays the obtained scene depth.

[0087] It should be noted that the computing control system in the distributed defocus depth measurement system can be one set or two separate sets. When the computing control system is one set, the computing control system can respectively control the distributed defocus acquisition device to collect data and calculate the scene depth using the data collected by the distributed defocus acquisition device. When the computing control system is two separate sets, one of the computing control systems is used to control the distributed defocus acquisition device to collect data, obtain a clear image with nearly consistent comprehensive brightness and two blurred images and the corresponding focus depth, and the other computing control system is used to receive the collected data, calculate the scene depth using the depth measurement method, and store and display it.

[0088] The distributed defocus acquisition device in the distributed defocus depth measurement system may be any one of the above-mentioned distributed defocus acquisition devices.

[0089] The control system can be a computer, a server, a PC, a mobile phone, etc. When there are two control systems, the two control systems can be the same or different.

[0090] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A distributed defocus stereo camera, characterized in that: The distributed defocused stereo camera comprises: A distributed defocus acquisition device, which is used to acquire a clear image, a blurred image and a focus distance of a shooting scene; A computing control system is used to control the distributed defocus acquisition device to acquire and store corresponding data, calculate the scene depth using a corresponding depth measurement method, and store and display the scene depth.

2. The distributed defocus stereo camera according to claim 1, characterized in that: The computing control system is specifically used for: Controlling the three sets of photosensitive imaging devices to perform photosensitive imaging, and obtaining corresponding clear images, two blurred images, and focus distances corresponding to the two blurred images; Compare and calculate the comprehensive brightness difference between the three collected images; According to the comparison result, the exposure time of the photosensitive imaging device is adjusted, and the photosensitive imaging device is controlled to image again, so as to obtain a clear image with nearly uniform comprehensive brightness, a blurred image with the focus in front, and a blurred image with the focus in the back; According to the depth measurement method, a relatively accurate scene depth is obtained by comparing and calculating the data collected by the distributed defocus acquisition device; Stores the scene depth calculated for display.

3. The distributed defocus stereo camera according to claim 1, characterized in that: The computing control system further includes any one of the following: A control system can respectively perform two tasks: controlling the distributed defocus acquisition device to collect data and calculating the scene depth using the data collected by the distributed defocus acquisition device; Two separate control systems, one of which is a computing control system used to control the distributed defocus acquisition device to collect data, obtain a clear image with nearly consistent comprehensive brightness, two blurred images and corresponding focus depths, and the other is a computing control system used to receive the collected data, calculate the scene depth using the depth measurement method, and store and display it.

4. A distributed defocus acquisition device, characterized in that: The distributed defocus acquisition device comprises: A beam splitter device, wherein the distributed defocus acquisition device has two beam splitter devices, which are used to separate the light incident from the shooting scene into three groups of light paths; Lens group, the distributed defocus collection device has three lens groups, which are respectively located in three groups of light paths, and are used to converge the light in each group of light paths onto the photosensitive imaging device; Aperture, the distributed defocus acquisition device has three apertures, which are respectively located behind the three lens groups, and are used to adjust the light throughput of the lens and the depth of field of the shooting, so that the distributed defocus acquisition device can collect corresponding clear images and blurred images; A focusing device, located between the lens group and the photosensitive imaging device, is used to adjust the distance between the lens group and the photosensitive imaging device in each group of light paths, thereby adjusting the focusing distance; Distance measuring device, the distributed defocus acquisition device has three sets of distance measuring devices, which are used to measure the distance from the lens group to the photosensitive imaging device, so as to obtain the focus distance of the shooting; The distributed defocus acquisition device has three sets of photosensitive imaging devices, which are respectively located in three groups of light paths and are used for photosensitive imaging to obtain corresponding scene pictures.

5. The distributed defocus acquisition device according to claim 4, characterized in that: The two spectroscopic devices further include any one of the following: Two flat beam splitters separate the light at given angles and specified ratios to obtain three sets of required light paths; Two cubic beam splitters separate the light at given angles and specified ratios to obtain three sets of required light paths; The combination of a flat beamsplitter and a stereo beamsplitter can separate the light at a given angle and a specified ratio to obtain three sets of required light paths.

6. The distributed defocus acquisition device according to claim 4, characterized in that: The aperture can be adjusted arbitrarily within an adjustable range, so that the photosensitive imaging device in each group of light paths can obtain corresponding clear images or blurred images with different depths of field.

7. The distributed defocus acquisition device according to claim 4, characterized in that: The focusing device also includes any one of the following: A set of focusing devices is located in the three optical paths at the same time, and can adjust the distance between the lens group and the photosensitive imaging device in each optical path respectively, so as to adjust the focusing distance corresponding to each optical path; Two sets of focusing devices, one set of focusing devices is located in one set of light paths, and can adjust the focus distance corresponding to the light path separately, and the other set of focusing devices is located in the other two sets of light paths, and can adjust the focus distances of the two sets of light paths separately; Three sets of focusing devices are respectively located in three groups of light paths, and can individually adjust the distance between the lens group and the photosensitive imaging device in each group of light paths, thereby adjusting the focusing distance corresponding to each group of light paths.

8. The distributed defocus acquisition device according to claim 4, characterized in that: The three sets of distance measuring devices also include any one of the following: Three sets of laser distance measuring devices, with measurement accuracy that meets the requirements, can obtain the distance between the lens group and the photosensitive imaging device in each optical path, thereby obtaining the focus distance of the shooting; Three sets of infrared distance measuring devices, with measurement accuracy that meets the requirements, can obtain the distance between the lens group and the photosensitive imaging device in each optical path, thereby obtaining the focus distance of the shooting; The combination of the laser distance measuring device and the infrared distance measuring device has a measurement accuracy that meets the requirements and can obtain the distance between the lens group and the photosensitive imaging device in each group of light paths, thereby obtaining the focus distance for shooting.

9. The distributed defocus acquisition device according to claim 4, characterized in that: The photosensitive chips in the three sets of photosensitive imaging devices may be three CCDs, three CMOSs, or a combination of CCDs and CMOSs. The three sets of photosensitive imaging devices are specifically used for: The same scene is imaged three times separately to obtain a clear image of the same scene and two blurred images at different focus distances; Adjust the exposure time, and image again to obtain a clear image with nearly consistent overall brightness and two blurred images.

10. A depth measurement method, characterized in that: The depth measurement method comprises: The distributed defocus acquisition device is used to acquire a clear image with the same brightness and two blurred images with different focus distances in the same scene and the same viewing angle, and the focus distances corresponding to the two blurred images are acquired; Arbitrarily give a suitable initial scene depth; The scene clear image collected by the distributed defocus collection device is combined with the scene depth and the focus distance 1 to obtain a generated blur image 1 of the scene at the focus distance 1 through the PSF camera model; The clear image is combined with the scene depth and the focus distance 2 to calculate the generated blur image 2 of the scene at the focus distance 2 through the PSF camera model; Compare and calculate the real blur image 1 collected by the distributed defocus collection device with the generated blur image 1 obtained by the PSF camera model at the initial scene depth; Compare and calculate the real blur image 2 collected by the distributed defocus collection device and the generated blur image 2 obtained by the PSF camera model at the initial scene depth; Combine the two sets of comparative calculation results to optimize and update the initial depth; After optimization, a more accurate scene depth is obtained.

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