CN106570907A - Camera calibrating method and device - Google Patents
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Abstract
The invention discloses a camera calibrating method and a device, and aims to simply and effectively calibrate a camera; the method comprises the following steps: building a world coordinate system according to a calibrated object, respectively obtaining coordinates of each calibration point on the calibrated object in the world coordinate system, wherein the calibrated object comprises two mutually orthogonal linear lines, and the calibration points are located on the linear lines; using the camera to shoot the calibrated object so as to obtain the image of the calibrated object, and obtaining coordinates of each calibration point in an image coordinate system according to the image coordinate system to which the calibrated object image is located; determining camera parameters according to the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the calibrated object image.
Description
Technical field
The present invention relates to technical field of computer vision, more particularly to a kind of camera calibration method and device.
Background technology
Needed to demarcate stereoscopic camera before camera dispatches from the factory.At present conventional camera calibration method is Zhang Zhengyou religions
The Zhang Shi plane reference methods of proposition are awarded, the method is capable of the inner parameter and external parameter of accurate calibration camera.
The scaling board that Zhang Shi plane reference methods are adopted for plane gridiron pattern, as shown in figure 1, calibration principle is as follows：Shooting
Machine model is expressed as：Wherein the homogeneous coordinates of m represent the plane of delineation pixel coordinate (u, v, 1), M's
Homogeneous coordinates represent world coordinate system coordinate points (X, Y, Z, 1).R represents that spin matrix, t represent that translation matrix, s represent yardstick
The factor.A represents the intrinsic parameter of video camera, and expression is：Wherein α=f/dx, β=f/dy, γ generation
The deviation of table pixel yardstick on x, y directions.Assume H=A [R t], then H is 3 that image coordinate system is tied to from world coordinates
The homography matrix of × 3 sizes.H is deformed, it is assumed that h1, h2, h3 are the column vector of H, then obtain：
Two equations can be set up according to the photo that camera plane gridiron pattern is obtained, due to there are 5 unknown numbers in A, then
5 unknown numbers of solution need at least 5 equations, that is to say, that at least need 3 photos to solve A.
It can be seen that, can there is problems with current Zhang Shi plane references method：Due to needing to set up world's seat according to gridiron pattern
Mark system, it is therefore desirable to ensure that the distance between each grid is equal, but will necessarily there is error during actual fabrication, and manage
Bigger by the upper grid number probability for error occur, the presence of the error can cause the world determined according to the gridiron pattern to sit more
Mark system is inaccurate, there is error so as to cause whole calibration process.Furthermore, it is desirable to ensure each grid on gridiron pattern in same
On horizontal plane.However, being difficult to find the definitely smooth gridiron pattern of a plane under actual scene, gridiron pattern is not at same level
Face also results in demarcation and there is error.In addition, it is necessary to shoot multiple pictures can demarcate to camera.
It can be seen that, existing camera calibration method realizes complexity, and difficulty is big, needs to seek a kind of simple and effective camera calibration
Method.
The content of the invention
The embodiment of the present invention provides a kind of camera calibration method and device, simply and effectively to demarcate to camera.
Concrete technical scheme provided in an embodiment of the present invention is as follows：
In a first aspect, a kind of camera calibration method is embodiments provided, including：
World coordinate system is built according to thing is demarcated, and obtains each fixed point on the demarcation thing respectively in the world
Coordinate under coordinate, wherein, the demarcation thing is located at the straight line by two mutually orthogonal rectilinear(-al)s, the fixed point
On；
The demarcation thing is shot by camera and obtains the image for demarcating thing, and according to the image institute of the demarcation thing
Image coordinate system obtain each coordinate of the fixed point in described image coordinate system；
According to each coordinate of the fixed point under the world coordinate system, and each described fixed point is in the mark
Coordinate in the image of earnest, determines the parameter of the camera.
Second aspect, embodiments provides a kind of camera calibration device, including：
First processing module, for building world coordinate system according to demarcation thing, and obtains respectively every on the demarcation thing
Coordinate of the individual fixed point under the world coordinates, wherein, the demarcation thing is by two mutually orthogonal rectilinear(-al)s, the mark
Fixed point is located on the straight line；
Second processing module, for by camera shoot it is described demarcation thing obtain it is described demarcate thing image, and according to
The image coordinate system that the image for demarcating thing is located obtains each coordinate of the fixed point in described image coordinate system；
3rd processing module, for according to each coordinate of the fixed point under the world coordinate system, and each
Coordinate of the fixed point in the image of the demarcation thing, determines the parameter of the camera.
Based on above-mentioned technical proposal, in the embodiment of the present invention, two mutually orthogonal straight lines are designed as by the way that thing will be demarcated,
And fixed point is set on the straight line for demarcating thing, world coordinate system is built according to the demarcation thing of design and is obtained on demarcation thing
Coordinate of each fixed point under world coordinate system, and the image of thing acquisition demarcation thing is demarcated by shooting, and obtain each mark
Coordinate of the fixed point under image coordinate system, coordinate according to each fixed point under world coordinate system and under image coordinate system
Coordinate, determines camera parameter, and whole process only needs once to shoot demarcates the image that thing obtains demarcation thing, it is not necessary to repeatedly clap
Take the photograph, and demarcate thing and make simple, reduce demarcating the error that thing itself brings, improve camera calibration efficiency.
Description of the drawings
Fig. 1 is existing plane gridiron pattern schematic diagram；
Fig. 2 a are embodiment of the present invention acceptance of the bid earnest schematic diagram；
Fig. 2 b are another demarcation thing schematic diagram in the embodiment of the present invention；
Fig. 2 c are another demarcation thing schematic diagram in the embodiment of the present invention；
Fig. 2 d are another demarcation thing schematic diagram in the embodiment of the present invention；
Fig. 3 is the method flow schematic diagram of camera calibration in the embodiment of the present invention；
Fig. 4 is camera calibration detailed process schematic diagram in the embodiment of the present invention；
Fig. 5 is the structural representation of camera calibration device in the embodiment of the present invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground is described in detail, it is clear that described embodiment is only a part of embodiment of the invention, rather than the enforcement of whole
Example.
The camera calibration method that the embodiment of the present invention is proposed, is that the image obtained based on single shot demarcation thing is carried out
Camera calibration, main thought is：According to the particularity for demarcating thing, camera is solved respectively along the world by simple linear relationship
The axial anglec of rotation of coordinate system two of which, for example, respectively along the X of world coordinate systemwAxle and YwThe anglec of rotation of axle, and
By along the X of world coordinate systemwAxle and YwThe anglec of rotation of axle solves the other parameters of camera as given value, by this way can
Enough stated accuracies for largely improving camera.
The present invention implement in the demarcation thing that used of camera calibration as shown in Fig. 2 a～Fig. 2 d, demarcate thing by two it is mutual just
The straight line of friendship is constituted, and two straight lines are expressed as L1 and L2, wherein, O represents the intersection point of two straight lines, and wherein A, B, O is L1
On three points, C, D, O be L2 on three points.The distance of point A to point O is h1, and the distance of point B to point O is h2, point C to point O
Distance be d3, the distance of point D to point O is d4.In calibration process, h1, h2, d3 and d4 are known conditions.
Demarcation thing in the embodiment of the present invention makes simple, it is only necessary to know given several points each to two mutually just
The distance of the intersection point of the straight line of friendship.This will be greatly reduced demarcates the calibrated error that thing itself is brought, and based on set
The demarcation thing of meter, it is only necessary to shoot a photo, you can complete the demarcation to camera according to the photo, substantially increases demarcation effect
Rate, especially in the case where needing to demarcate substantial amounts of camera.
Based on the demarcation thing, the process of camera calibration is carried out in the embodiment of the present invention as shown in figure 3, being described in detail below：
Step 301：World coordinate system is built according to thing is demarcated, and each fixed point obtained respectively on the demarcation thing exists
Coordinate under the world coordinates, wherein, the demarcation thing is located at institute by two mutually orthogonal rectilinear(-al)s, the fixed point
State on straight line.
In one specific embodiment, using the intersection point of two mutually orthogonal straight lines as the world coordinate system original
Point, respectively using a coordinate axess per straight line described in bar as the world coordinate system, for example, will demarcate wherein one in thing
X of the straight line as world coordinate systemwAxle, will demarcate Z of the other straight line in thing as world coordinate systemwAxle, will be perpendicular to
Y of the straight line of the plane that two straight lines of demarcation thing are constituted as world coordinate systemwAxle.
One preferably in embodiment, per straight line described in bar on have fixed point described at least two respectively so that energy
All parameters of enough calibration for cameras.
Example, the demarcation thing of the embodiment of the present invention demarcates thing mutually orthogonal straight by two as shown in Fig. 2 a～Fig. 2 d
Line is constituted, and two straight lines are expressed as L1 and L2, wherein, O represents the intersection point of two straight lines, and wherein A, B is 2 marks on L1
Fixed point, C, D are 2 fixed points on L2.
Step 302：The demarcation thing is shot by camera and obtains the image for demarcating thing, and according to the demarcation thing
Image be located image coordinate system obtain each coordinate of the fixed point in described image coordinate system.
Step 303：According to each coordinate of the fixed point under the world coordinate system, and each described fixed point
Coordinate in the image of the demarcation thing, determines the parameter of the camera.
Specifically, according to each coordinate of the fixed point under the world coordinate system, and each described fixed point
Coordinate in the image of the demarcation thing, and the first constraint that the world coordinate system and described image coordinate system meet
Condition, determines that the camera is respectively relative to two axial anglecs of rotation of the world coordinate system；According to the institute for obtaining
State two axial anglecs of rotation that camera is respectively relative to the world coordinate system, first constraints, and often
Coordinate of the individual fixed point under the world coordinate system, and each leisure of each the described fixed point image for demarcating thing
In coordinate, determine f, R, T of the cameraX、TYAnd TZ；
Wherein, the first constraints is expressed as shown in formula 1 and formula 2：
R represents the spin matrix of the camera, is expressed as shown in formula 3：
X represents abscissa of the fixed point in described image coordinate system, and y represents that the fixed point is sat in described image
Vertical coordinate in mark system, f represents the focal length of the camera, XwRepresent X of the fixed point in the world coordinate systemwOn axle
Value, YwRepresent Y of the fixed point in the world coordinate systemwValue on axle, ZwRepresent the fixed point in the world coordinates
The Z of systemwValue on axle, TXRepresent X of the camera relative to the world coordinate systemwAxial translational movement, TYRepresent described
Y of the camera relative to the world coordinate systemwAxial translational movement, TZRepresent the camera relative to the world coordinate system
ZwAxial translational movement, α represents the camera relative to XwThe anglec of rotation of axle, β represents the camera relative to YwAxle
The anglec of rotation, γ represents the camera relative to ZwThe anglec of rotation of axle.
The process of camera calibration is illustrated below by way of specific embodiment
The process schematic of camera calibration in the specific embodiment is illustrated in figure 4, is described as follows：
The image that thing obtains demarcation thing is demarcated by shooting, and obtains each fixed point O, A, B, C, the D demarcated in thing and existed
The coordinate demarcated in the image of thing, meanwhile, set up world coordinate system according to thing is demarcated, and obtain demarcate in thing each fixed point O,
A, B, C, D coordinate each in world coordinate system；
According to the projection variation model between image coordinate and world coordinate system, fixed point is set up in the image for demarcating thing
Coordinate and the mapping relations between the coordinate under world coordinate system；
According to the mapping relations solution parameter alpha and parameter beta, the parameter alpha for then being obtained according to solution and parameter beta set up, ask
Solution parameter γ, TX、TY、TZAnd f, so far complete the calibration process of camera.
In the specific embodiment, it is necessary first to set up world coordinate system according to thing is demarcated, with O points as zero, OBA is
The Z of world coordinate systemwAxle, ODC is the X of world coordinate systemwAxle, the Y of world coordinate systemwAxle is perpendicular to ZwAxle and XwIt is flat that axle is constituted
Face.The abscissa for assuming image imaging coordinate system is expressed as x, and the vertical coordinate of image imaging coordinate system is expressed as y.Hypothetical world is sat
A point (X under mark systemw, Yw, Zw), then obtain the point corresponding imaging in image imaging coordinate system using projective transformation
Coordinate (x, y), is expressed as shown in formula 4 and formula 5：
Wherein f represents camera focus, and spin matrix R is expressed as shown in formula 6：
Wherein, α represents camera relative to XwThe anglec of rotation of axle, β represents camera relative to YwThe anglec of rotation of axle, γ tables
Show camera relative to ZwThe anglec of rotation of axle, TxRepresent camera along XwAxial translational movement, TyRepresent camera along YwIt is axial
Translational movement, TzRepresent camera along ZwAxial translational movement.
Under world coordinate system, the coordinate of O for (0,0,0), the coordinate of A points be (0,0, h1), B points coordinate for (0,0,
H2), then O spot projections transform to the coordinate after image imaging coordinate system for (x0,y0), A spot projections transform to image imaging coordinate system
Coordinate afterwards is (x1,y1), B spot projections transform to the coordinate after image imaging coordinate system for (x2,y2).It is expressed as formula 7～10
It is shown：
Wherein, the value of i is 1 or 2.
According to formula 7 and formula 9, the relation shown in formula 11 can be obtained：
(xi-x0)(R31Tx+R32Ty+R33Tz)-xihiR33=-fhiR13, (i=1,2) (11)
Further, for formula (11), i take respectively 1,2, corresponding two equations are obtained, using two equations with
And formula 7 is obtained the relation shown in formula 12：
According to formula 8 and formula 10, the relation shown in formula 13 can be obtained：
(yi-y0)(R31Tx+R32Ty+R33Tz)-yihiR33=-fhiR23, (i=1,2) (13)
Further, for formula (13), i take respectively 1,2, corresponding two equations are obtained, using two equations with
And formula 8 is obtained the relation shown in formula 14：
Using formula 6 and formula 12 and formula 14, formula 15 is obtained：
In the same manner, using O, C and D 3 points can obtain formula 16：
By formula 15 and formula 16, you can solve parameter alpha and β, the parameter alpha for solving and β are substituted into into 6～formula of formula
10, parameter γ, T can be solvedX、TY、TZAnd f.
Based on same inventive concept, a kind of camera calibration device is additionally provided in the embodiment of the present invention, as shown in figure 5, should
Device mainly includes：
First processing module 501, for building world coordinate system according to demarcation thing, and obtains respectively on the demarcation thing
Coordinate of each fixed point under the world coordinates, wherein, the demarcation thing is described by two mutually orthogonal rectilinear(-al)s
Fixed point is located on the straight line；
Second processing module 502, for shooting the demarcation thing by camera the image for demarcating thing, and root are obtained
The image coordinate system being located according to the image of the demarcation thing obtains each coordinate of the fixed point in described image coordinate system；
3rd processing module 503, for according to each coordinate of the fixed point under the world coordinate system, and often
Coordinate of the individual fixed point in the image of the demarcation thing, determines the parameter of the camera.
In possible embodiment, the first processing module 501 specifically for：
Using the intersection point of two mutually orthogonal straight lines as the world coordinate system origin, respectively will be per described in bar
A coordinate axess of the straight line as the world coordinate system.
In possible embodiment, per straight line described in bar on have fixed point described at least two respectively.
In possible embodiment, the 3rd processing module 503 specifically for：
According to each coordinate of the fixed point under the world coordinate system, and each described fixed point is in the mark
Coordinate in the image of earnest, and the first constraints that the world coordinate system and described image coordinate system meet, really
The fixed camera is respectively relative to two axial anglecs of rotation of the world coordinate system；
The camera according to obtaining is respectively relative to two axial anglecs of rotation of the world coordinate system, described
First constraints, and each coordinate of the fixed point under the world coordinate system, and each described fixed point exists
Coordinate in the image for demarcating thing, determines f, R, T of the cameraX、TYAnd TZ；
Wherein, the first constraints is X represents the mark
Abscissa of the fixed point in described image coordinate system, y represents vertical coordinate of the fixed point in described image coordinate system, f tables
Show the focal length of the camera, R represents the spin matrix of the camera, XwRepresent X of the fixed point in the world coordinate systemw
Value on axle, YwRepresent Y of the fixed point in the world coordinate systemwValue on axle, ZwRepresent the fixed point in the generation
The Z of boundary's coordinate systemwValue on axle, TXRepresent X of the camera relative to the world coordinate systemwAxial translational movement, TYTable
Show Y of the camera relative to the world coordinate systemwAxial translational movement, TZRepresent the camera relative to the world
The Z of coordinate systemwAxial translational movement, α represents the camera relative to XwThe anglec of rotation of axle, β represent the camera relative to
YwThe anglec of rotation of axle, γ represents the camera relative to ZwThe anglec of rotation of axle.
For convenience of description, each several part of apparatus described above is divided into various modules with function or unit is described respectively.
Certainly, the function of each module or unit can be realized in same or multiple softwares or hardware when the present invention is implemented.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be adopted and wherein include the computer of computer usable program code at one or more
The shape of the computer program implemented in usable storage medium (including but not limited to disk memory and optical memory etc.)
Formula.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (8)
1. a kind of camera calibration method, it is characterised in that include：
World coordinate system is built according to thing is demarcated, and obtains each fixed point on the demarcation thing respectively in the world coordinates
Under coordinate, wherein, by two mutually orthogonal rectilinear(-al)s, the fixed point is located on the straight line demarcation thing；
The demarcation thing is shot by camera and obtains the image for demarcating thing, and according to the image place for demarcating thing
Image coordinate system obtains each coordinate of the fixed point in described image coordinate system；
According to each coordinate of the fixed point under the world coordinate system, and each described fixed point is in the demarcation thing
Image in coordinate, determine the parameter of the camera.
2. the method for claim 1, it is characterised in that build world coordinate system according to thing is demarcated, including：
Using the intersection point of two mutually orthogonal straight lines as the world coordinate system origin, respectively will be per straight line described in bar
As a coordinate axess of the world coordinate system.
3. method as claimed in claim 2, it is characterised in that have respectively on per straight line described in bar described at least two and demarcate
Point.
4. the method as described in any one of claims 1 to 3, it is characterised in that according to each described fixed point in the world
Coordinate under coordinate system, and coordinate of each described fixed point in the image of the demarcation thing, determine the ginseng of the camera
Number, including：
According to each coordinate of the fixed point under the world coordinate system, and each described fixed point is in the demarcation thing
Image in coordinate, and the first constraints that the world coordinate system and described image coordinate system meet determines institute
State two axial anglecs of rotation that camera is respectively relative to the world coordinate system；
The camera according to obtaining is respectively relative to two axial anglecs of rotation of the world coordinate system, and described first
Constraints, and each coordinate of the fixed point under the world coordinate system, and each described fixed point is described
The coordinate demarcated in the image of thing, determines f, R, T of the cameraX、TYAnd TZ；
Wherein, the first constraints is X represents the mark
Abscissa of the fixed point in described image coordinate system, y represents vertical coordinate of the fixed point in described image coordinate system, f tables
Show the focal length of the camera, R represents the spin matrix of the camera, XwRepresent X of the fixed point in the world coordinate systemw
Value on axle, YwRepresent Y of the fixed point in the world coordinate systemwValue on axle, ZwRepresent the fixed point in the generation
The Z of boundary's coordinate systemwValue on axle, TXRepresent X of the camera relative to the world coordinate systemwAxial translational movement, TYTable
Show Y of the camera relative to the world coordinate systemwAxial translational movement, TZRepresent the camera relative to the world
The Z of coordinate systemwAxial translational movement, α represents the camera relative to XwThe anglec of rotation of axle, β represent the camera relative to
YwThe anglec of rotation of axle, γ represents the camera relative to ZwThe anglec of rotation of axle.
5. a kind of camera calibration device, it is characterised in that include：
First processing module, for building world coordinate system according to demarcation thing, and obtains respectively each mark on the demarcation thing
Coordinate of the fixed point under the world coordinates, wherein, the demarcation thing is by two mutually orthogonal rectilinear(-al)s, the fixed point
On the straight line；
Second processing module, for shooting the demarcation thing by camera the image for demarcating thing is obtained, and according to described
The image coordinate system for demarcating the image place of thing obtains each coordinate of the fixed point in described image coordinate system；
3rd processing module, for according to each coordinate of the fixed point under the world coordinate system, and described in each
Coordinate of the fixed point in the image of the demarcation thing, determines the parameter of the camera.
6. device as claimed in claim 5, it is characterised in that the first processing module specifically for：
Using the intersection point of two mutually orthogonal straight lines as the world coordinate system origin, respectively will be per straight line described in bar
As a coordinate axess of the world coordinate system.
7. device as claimed in claim 6, it is characterised in that have respectively on per straight line described in bar described at least two and demarcate
Point.
8. device as claimed in claims 6 or 7, it is characterised in that the 3rd processing module specifically for：
According to each coordinate of the fixed point under the world coordinate system, and each described fixed point is in the demarcation thing
Image in coordinate, and the first constraints that the world coordinate system and described image coordinate system meet determines institute
State two axial anglecs of rotation that camera is respectively relative to the world coordinate system；
The camera according to obtaining is respectively relative to two axial anglecs of rotation of the world coordinate system, and described first
Constraints, and each coordinate of the fixed point under the world coordinate system, and each described fixed point is described
The coordinate demarcated in the image of thing, determines f, R, T of the cameraX、TYAnd TZ；
Wherein, the first constraints is X represents the mark
Abscissa of the fixed point in described image coordinate system, y represents vertical coordinate of the fixed point in described image coordinate system, f tables
Show the focal length of the camera, R represents the spin matrix of the camera, XwRepresent X of the fixed point in the world coordinate systemw
Value on axle, YwRepresent Y of the fixed point in the world coordinate systemwValue on axle, ZwRepresent the fixed point in the generation
The Z of boundary's coordinate systemwValue on axle, TXRepresent X of the camera relative to the world coordinate systemwAxial translational movement, TYTable
Show Y of the camera relative to the world coordinate systemwAxial translational movement, TZRepresent the camera relative to the world
The Z of coordinate systemwAxial translational movement, α represents the camera relative to XwThe anglec of rotation of axle, β represent the camera relative to
YwThe anglec of rotation of axle, γ represents the camera relative to ZwThe anglec of rotation of axle.
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| CN110246184A (en) * | 2018-03-07 | 2019-09-17 | 杭州海康威视数字技术股份有限公司 | Join outside a kind of in-vehicle camera and determines method, apparatus, equipment and system |
| WO2020192464A1 (en) * | 2019-03-28 | 2020-10-01 | 阿里巴巴集团控股有限公司 | Method for calibrating camera, roadside sensing apparatus, and smart transportation system |
| CN112581547A (en) * | 2020-12-30 | 2021-03-30 | 安徽地势坤光电科技有限公司 | Rapid method for adjusting installation angle of imaging lens |
| CN112581547B (en) * | 2020-12-30 | 2022-11-08 | 安徽地势坤光电科技有限公司 | Rapid method for adjusting installation angle of imaging lens |
| CN113345026A (en) * | 2021-05-13 | 2021-09-03 | 北京三快在线科技有限公司 | Camera parameter calibration method and device, storage medium and electronic equipment |
| CN113643379A (en) * | 2021-08-05 | 2021-11-12 | 北京的卢深视科技有限公司 | Calibration method, calibration device, interaction device, electronic device and storage medium |
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