CN109379521A - Camera calibration method, device, computer equipment and storage medium - Google Patents
Camera calibration method, device, computer equipment and storage medium Download PDFInfo
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- CN109379521A CN109379521A CN201811455922.6A CN201811455922A CN109379521A CN 109379521 A CN109379521 A CN 109379521A CN 201811455922 A CN201811455922 A CN 201811455922A CN 109379521 A CN109379521 A CN 109379521A
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- camera
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- image processor
- taken pictures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
- H04M1/026—Details of the structure or mounting of specific components
- H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
This application involves a kind of camera calibration methods and device, computer equipment and storage medium.The described method includes: control camera is electrically connected with image processor, and a camera is electrically connected with an image processor, wherein the quantity of the camera is the first quantity, the quantity of described image processor is the second quantity, and first quantity is greater than second quantity；It controls the camera to take pictures, and by the image processor of the image transmitting taken pictures to corresponding electrical connection to obtain target image；It is demarcated based on the target image, obtains corresponding calibration information.The case where realizing during carrying out camera calibration, effectively reducing frequent power-on and power-off, the accuracy of target image acquisition is improved, and then improves the accuracy of calibration.
Description
Technical field
This application involves camera calibration technical fields, more particularly to a kind of camera calibration method, device, computer
Equipment and computer readable storage medium.
Background technique
Electronic equipment all has camera function, in order to keep taking pictures for electronic equipment more accurate, dispatches from the factory in electronic equipment
It needs to detect the camera function of electronic equipment before, that is, camera is demarcated.Current calibration mode mistake
It is not accurate enough to the acquisition for the image demarcated in single and fixation, while when being demarcated, so that the precision of calibration is not
It is enough.
Summary of the invention
The embodiment of the present application provides a kind of camera calibration method, device, electronic equipment, computer readable storage medium,
The accuracy of camera calibration can be improved.
A kind of camera calibration method, which comprises
Control camera is electrically connected with image processor, and a camera is electrically connected with an image processor, wherein
The quantity of the camera is the first quantity, and the quantity of described image processor is the second quantity, and first quantity is greater than institute
State the second quantity；
It controls the camera to take pictures, and by the image transmitting taken pictures to the image processor of corresponding electrical connection to obtain
To target image；
It is demarcated based on the target image, obtains corresponding calibration information.
A kind of camera calibration device, described device include:
Electrical connection module is electrically connected for controlling camera with image processor, and at a camera and an image
Manage device electrical connection, wherein the quantity of the camera is the first quantity, and the quantity of described image processor is the second quantity, institute
The first quantity is stated greater than second quantity；
Image collection module is taken pictures for controlling the camera, and the image transmitting taken pictures to correspondence is electrically connected
The image processor connect is to obtain target image；
Processing module is demarcated, for being demarcated based on the target image, obtains corresponding calibration information.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device performs the steps of when executing the computer program
Control camera is electrically connected with image processor, and a camera is electrically connected with an image processor, wherein
The quantity of the camera is the first quantity, and the quantity of described image processor is the second quantity, and first quantity is greater than institute
State the second quantity；
It controls the camera to take pictures, and by the image transmitting taken pictures to the image processor of corresponding electrical connection to obtain
To target image；
It is demarcated based on the target image, obtains corresponding calibration information.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
Control camera is electrically connected with image processor, and a camera is electrically connected with an image processor, wherein
The quantity of the camera is the first quantity, and the quantity of described image processor is the second quantity, and first quantity is greater than institute
State the second quantity；
It controls the camera to take pictures, and by the image transmitting taken pictures to the image processor of corresponding electrical connection to obtain
To target image；
It is demarcated based on the target image, obtains corresponding calibration information.
Above-mentioned camera calibration method and device, computer equipment and storage medium control camera and image processor
Electrical connection, and a camera is electrically connected with an image processor, wherein the quantity of camera is the first quantity, at image
The quantity for managing device is the second quantity, and the first quantity is greater than the second quantity, then controls camera and takes pictures, and will take pictures to obtain
Image transmitting to corresponding electrical connection image processor to obtain target image, finally carried out according to obtained target image
Calibration, obtains corresponding calibration information.It realizes during carrying out camera calibration, effectively reduces frequent power-on and power-off
Situation, improves the accuracy of target image acquisition, and then improves the accuracy of calibration.
Detailed description of the invention
Fig. 1 is the applied environment figure of camera calibration method in one embodiment；
Fig. 2 is the flow diagram of camera calibration method in one embodiment；
Fig. 3 is the flow diagram for the step of control camera is taken pictures in one embodiment；
Fig. 4 is the flow diagram for the step of control camera is taken pictures in another embodiment；
Fig. 5 is the structural block diagram of camera calibration device in one embodiment；
Fig. 6 is electronic devices structure block diagram in one embodiment；
Fig. 7 is the internal structure chart of electronic equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Fig. 1 is the application environment schematic diagram of image processing method in one embodiment.As shown in Figure 1, the application environment packet
Include electronic equipment 100.When electronic equipment 100 receives corresponding control instruction, control camera is electrically connected with image processor
It connects, and a camera is electrically connected with an image processor, wherein the quantity of camera is the first quantity, image processor
Quantity be the second quantity, and the first quantity be greater than the second quantity, when camera is taken pictures, camera need and image
Processor is in status of electrically connecting, controls all camera completions and takes pictures, and the image transmitting taken pictures is electric to corresponding to
The image processor of connection is finally demarcated according to obtained target image with obtaining target image, obtains corresponding mark
Determine information.
In one embodiment, as shown in Fig. 2, providing a kind of camera calibration method, it is applied in Fig. 1 in this way
Electronic equipment for be illustrated, comprising the following steps:
Step 202, control camera is electrically connected with image processor, and a camera is electrically connected with an image processor
It connects, wherein the quantity of camera is the first quantity, and the quantity of image processor is the second quantity, and the first quantity is greater than the second number
Amount.
In practical applications, it when camera is taken pictures, needs to be electrically connected with image processor foundation, could complete corresponding
Take pictures.Therefore, it when obtaining the image demarcated, needs to control camera and is electrically connected with image processor, and then complete
The acquisition of taking pictures of image.Specifically, control camera is electrically connected with image processor, and a camera and an image procossing
Device electrical connection, wherein the quantity of camera is the first quantity, and the quantity of image processor is the second quantity, and the first quantity
Greater than the second quantity.
Further, before control camera is electrically connected with image processor further include: when receiving photographing instruction,
It is powered on to camera and image processor.
Wherein, powering on is to show equipment to carry out powering on switch, keeps equipment in operating status.Specifically, work as electronics
When equipment receives photographing instruction, it will powered on to camera and image processor, so that camera and image
Processor is in operating status.
Step 204, the image processor that control camera takes pictures, and the image transmitting taken pictures is electrically connected to correspondence
To obtain target image.
Wherein, scaling board refers in the application such as machine vision, image measurement, photogrammetric, three-dimensional reconstruction, is corrective lens (eye protection)
Head distortion, determine conversion relation between physical size and pixel and determine space object surface point three-dimensional geometry position and
Its correlation between corresponding points in the picture, and need to establish the geometrical model of camera imaging.In the camera of electronic equipment
In, by camera shooting with constant spacing pattern array plate, by the calculating of calibration algorithm, it can be deduced that the geometry of camera
Model, so that high-precision measurement and reconstructed results are obtained, and the plate with constant spacing pattern array is exactly scaling board.
When receiving photographing instruction, after being powered on to camera and image processor, it will three cameras of control
It takes pictures.Specifically, it when being taken pictures, really according to the location of scaling board, controls camera and takes pictures, with
Corresponding target image is obtained, during taking pictures, camera needs are connected with image processor and could complete the bat of image
It takes the photograph.When receiving photographing instruction, control camera is electrically connected with image processor, since the quantity of camera is more than at image
The quantity of device is managed, therefore all cameras can not be controlled simultaneously and taken pictures, and then when control camera completion is taken pictures,
There is certain sequencing, that is, after camera completion in part is taken pictures, completes taking pictures for remaining part camera.It is taking the photograph
When being attached as head and image processor, can't concrete restriction be correspondingly connected with relationship.
In practical applications, after camera and corresponding image processor establish electrical connection, it will take pictures with
Corresponding target image is obtained, each camera, which can carry out taking pictures corresponding to, obtains an image, meanwhile, it is in scaling board
When different position, camera will also will do it once photo taking.That is, owning when scaling board is in some position
Camera will do it once photo taking, to obtain one group of image corresponding to this position.It is fixed in scaling board in each position
After obtaining the corresponding image in position, is summarized and obtain target image.
When being demarcated, in order to more accurately be demarcated, need to obtain scaling board in the figure of different location
Picture, and then could accurately obtain corresponding calibration information.Specifically, target image is carried out according to preset image acquisition mode
It obtains, the position for specifically controlling scaling board is changed, and obtains corresponding image, and then obtain target image.With electronics
Equipment tool is there are three for camera and two image processors, and in the present embodiment, the control for demarcating Board position is user
Controlled, when scaling board is in first position, will the first camera of control, second camera and third camera into
Row is taken pictures, to obtain first group of image corresponding to first position, wherein when three cameras of control are taken pictures, can first be selected
Select two cameras be electrically connected with two image processors completion take pictures, then control again at third camera and two images
The image processor managed in device is electrically connected to complete to take pictures.Similarly, the second position and the third place are in scaling board
When, same the first camera, second camera and the third camera of controlling is taken pictures, to obtain corresponding to the second position
Third group image corresponding to second group of image and the third place.In turn by first group of image, second group of image and third
Group image is summarized to obtain target image.
In addition, in the present embodiment, for camera and image processor quantity with no restrictions, in above-described embodiment
In the mode of image acquisition is carried out when describing three cameras and two image processors, be four in the quantity of camera
It is a, when the quantity of image processor is three, it can first control three cameras and three image procossings in four cameras
Device electrical connection controls any one figure in the last one camera and three image processors then after completing to take pictures
As processor is electrically connected to complete to take pictures.Likewise, a camera electrical connection can also first be controlled to complete to take pictures, then control
Make remaining three cameras be electrically connected with three image processors completion take pictures.For any number of camera and it is less than
Any number of image processor of camera quantity, can according to the present embodiment described in mode complete uncalibrated image
It obtains.
Further, before being demarcated further include: when obtaining target image, control camera and image procossing
It is electric under device.
Wherein, lower electricity is to show equipment to turn off power switch, is in an off state equipment.
After obtaining target image, that is, illustrate target image acquisition completed, will need to control at this time camera with
And image processor no longer works.Specifically, after having obtained target image, it will control camera and image processor
Lower electricity, so that camera and image processor are in and disconnect operating status.
Step 206, it is demarcated based on target image, obtains corresponding calibration information.
Wherein, calibration be primarily referred to as the metrical instrument using standard to examined using the accuracy or precision of instrument
It surveys and whether complies with standard, be generally mostly used for the higher instrument of precision.Calibration is it is also assumed that be calibration.Accordingly it is also possible to
Think that calibration includes the above both sides meaning.
Specifically, after obtaining target image, it will demarcated to target image, to obtain corresponding calibration letter
Breath, and obtained calibration information is saved.Camera is demarcated, is in order to enable camera is during taking pictures
Obtained image is more accurate, is not in various abnormal images.In practical applications, it when being demarcated, carries out first
Calibration is singly taken the photograph, then takes the photograph calibration in progress pair, and then obtains final corresponding calibration information.
Singly taking the photograph calibration is demarcated to the parameter of each camera itself, by above-mentioned steps it is found that in scaling board
When different positions, camera will do it the acquisition of an image, usually when being demarcated, need to control at scaling board
In the different position of at least three, and then corresponding image is obtained to demarcate to corresponding camera.It is assumed that the position of scaling board
Be set to 3 and only there are three camera when, by taking first camera as an example, scaling board be in three it is different when, first takes the photograph
As head all will acquire an image, therefore when singly being taken the photograph calibration to the first camera, by corresponding to the first camera
Three images be analyzed and processed, with realize calibration is singly taken the photograph to the first camera.It is respectively corresponded obtaining each camera
Singly take the photograph after calibration information, it will carry out it is double takes the photograph calibration, calibration information will be singly taken the photograph according to corresponding to each camera, at analysis
Reason obtains final calibration information.
It is that calibration determination is carried out to the internal reference of camera and outer ginseng, wherein singly take the photograph when singly being taken the photograph calibration to camera
As the internal reference of head may include fx、fy、cx、cy, wherein fxIndicate focal length unit Pixel size, f in image coordinate system x-axis directiony
Indicate focal length unit Pixel size, c on image coordinate system y-axis directionx、cyIndicate the principal point coordinate of the plane of delineation, principal point is light
The intersection point of axis and the plane of delineation；The outer ginseng of single camera includes that the coordinate under world coordinate system is transformed under camera coordinate system
The spin matrix and translation matrix of coordinate.It namely when singly being taken the photograph calibration, is determined to the above-mentioned parameter of camera.
Carry out it is double take the photograph calibration when, be for determining outer ginseng corresponding to camera module that two cameras are composed
Value, specifically, outer ginseng include the translation matrix between spin matrix and two cameras between two cameras.In the present embodiment
In, the first camera and third camera position visible image capturing head are set, second camera is depth camera, wherein first
Camera and third camera can be colour imagery shot or one is black and white camera, and one is colour imagery shot, or
Two black and white cameras.To three cameras carry out it is double take the photograph calibration when, have it is different it is double take the photograph combination, such as the first camera and
Double combination and third cameras taken the photograph of second camera are combined with double take the photograph of second camera.Obtaining above-mentioned marked
Surely after determining parameter, it will be saved.
In above-mentioned camera calibration method, when being demarcated, it will issue finger of taking pictures accordingly to electronic equipment
It enables, when electronic equipment receives photographing instruction, control camera is electrically connected with image processor, and a camera and one
Image processor electrical connection, wherein the quantity of camera is the first quantity, and the quantity of image processor is the second quantity, and
First quantity is greater than the second quantity, then controls camera and takes pictures, and the image transmitting taken pictures to correspondence is electrically connected
Image processor is finally demarcated according to obtained target image with obtaining target image, obtains corresponding calibration information.
The case where realizing during carrying out camera calibration, effectively reducing frequent power-on and power-off, improves target image acquisition
Accuracy, and then improve the accuracy of calibration.
In one embodiment, the figure that control camera takes pictures, and the image transmitting taken pictures is electrically connected to correspondence
As processor is to obtain target image, comprising: based on the location of scaling board, control camera is taken pictures, and camera is obtained
The image transmitting arrived is to the corresponding image processor being electrically connected, to obtain target image.Specifically, obtaining target image includes:
Step a, when scaling board is in first position, control camera is taken pictures, and by obtained image transmitting to right
The image processor that should be electrically connected is to obtain first group of image.
Step b, when scaling board is in the second position, control camera is taken pictures, and by obtained image transmitting to right
The image processor that should be electrically connected is to obtain second group of image.
Step c, when scaling board is in the third place, control camera is taken pictures, and by obtained image transmitting to right
The image processor that should be electrically connected is to obtain third group image.
First group of image, second group of image and third group image are summarized, obtain target image by step d.
It specifically, is to obtain the acquisition that rule carries out target image according to preset image when obtaining target image,
When practical acquisition target image, control scaling board is rotated, so that image of the scaling board corresponding to different location is obtained,
And then obtain the target image demarcated.In the present embodiment, by taking the position of scaling board is three as an example, and three positions point
Not Wei first position, the second position and the third place, by rotate scaling board make scaling board be in three different positions,
Scaling board is specifically rotated into corresponding angle, specifically angular dimension is obtained according to experimental results.Distinguish in scaling board
When in first position, the second position and the third place, the first camera of control, second camera and third camera into
Row is taken pictures, and to respectively obtain the one group of image taken pictures in each position, and then summarizes to obtain the target figure demarcated
Picture.
Further, scaling board is being obtained in different location, control camera is taken pictures.Specifically, such as Fig. 3 institute
Show, control camera is taken pictures, comprising:
Step 302, the camera of the second quantity is obtained in the camera of the first quantity, and controls the camera shooting of the second quantity
Head is electrically connected with image processor.
Step 304, control is taken pictures in the camera of status of electrically connecting, and the image transmitting taken pictures to correspondence is electrically connected
The image processor connect, and disconnect the camera for being in status of electrically connecting.
Step 306, the camera based on third quantity is electrically connected with image processor, and the camera of control third quantity is clapped
According to, and by the image taken pictures to be transmitted to the corresponding image processor being electrically connected, wherein third quantity and the second quantity
Be equal to the first quantity.
According to the position of scaling board, controls camera and take pictures, specifically, when scaling board is in different location, all will
Control camera is taken pictures, to obtain corresponding image.
It needs to connect camera corresponding image processor when controlling camera and being taken pictures, specifically, is needing
When controlling camera and being taken pictures to obtain corresponding image, since the quantity of camera is greater than the quantity of image processor, because
This will not can control all cameras while taking pictures, and then will obtain the second quantity from the camera of the first quantity first
Camera is electrically connected with the image processor of the second quantity, and a camera is electrically connected with an image processor, and not
Then the specific connection relationship limited between camera and image processor is just able to achieve control camera and takes pictures, and second
The camera of quantity completes the image processor after taking pictures by obtained image transmitting to corresponding electrical connection, is then turned off place
It, finally will be at the camera of third quantity and image in being electrically connected between image processor of the camera of status of electrically connecting
Manage device electrical connection, and the camera for controlling third quantity is taken pictures, wherein third quantity and the second quantity and be the first quantity, institute
The image collection for having camera to take pictures is the target image demarcated.
With the camera quantity of electronic equipment be three, and the quantity of image processor be two for, obtaining at this time
When target image, three cameras cannot will carry out simultaneously the acquisition of image, to a certain extent, corresponding to different cameras
The acquisition of image has a certain difference, and be mainly reflected in obtain simultaneously.Therefore, each camera progress image is being controlled
When acquisition, the image acquisition of each camera has certain sequencing, in the present embodiment, is in first position with scaling board
Example, it is assumed that two image processors are the first image processor and the second image processor, when scaling board is in first position,
It controls the first camera to be electrically connected with the foundation of the first image processor, is taken pictures to obtain the first figure to control the first camera
Picture；It is then turned off being electrically connected for the first camera and the first image processor；And second camera and the are controlled after it has been broken
Three cameras are electrically connected with the first image processor and the foundation of the second image processor, specifically can be second camera and first
Image processor electrical connection, be also possible to second camera and be electrically connected with the second image processor, then third camera with remain
Under an image processor electrical connection, and then control second camera and third camera completion take pictures, obtain the second image
And third image, and after having obtained the second image and third image, by control second camera and third camera point
It does not disconnect and being electrically connected with corresponding image processor.It should be noted that when controlling the first camera first and being taken pictures,
One camera can also be and be electrically connected with the second image processor other than it can be electrically connected with the first image processor.
Likewise, being three with the quantity of camera, the quantity of image processor is two and the corresponding position of scaling board
There are three for, when carrying out the acquisition of image, the first camera and second camera and two images can also be controlled first
Processor establishes electrical connection respectively and is taken pictures with controlling the first camera and second camera, is then obtaining the first camera and the
The first camera and second camera and two image procossings are disconnected after corresponding first image of two cameras and the second image
The electrical connection of device then controls third camera and is electrically connected with any one image processor foundation in two image processors
Take pictures to obtain third image to control third camera, and after obtaining third figure image disconnect third camera with it is corresponding
The electrical connection of image processor.
Further, when scaling board is in the second position, it will obtain second group of image, the second image and the second position
It is corresponding；And when scaling board is in the third place, third image corresponding with the third place is obtained.It should be noted that
Corresponding second group of image is obtained when scaling board is in the second position perhaps the third place or the mode of third group image can
It is identical in a manner of first group of image is obtained when with scaling board in the present embodiment in first position.In addition, due to camera with
And there is no limit may be based on side as described in this embodiment to the quantity of image processor under the combined situation of other quantity
Formula completes taking pictures for all cameras.
It should be noted that the first camera, second camera of distance explanation and third camera shooting in the present embodiment
Head is only used for the differentiation to three cameras, not any restriction, for example takes pictures controlling the first camera,
It can be first control second camera or third camera to take pictures.
Further, in one embodiment, step 306, the camera based on third quantity is electrically connected with image processor
It connecing, the camera of control third quantity is taken pictures, and the image taken pictures is transmitted to the image processor of corresponding electrical connection,
Wherein, third quantity and the second quantity and be equal to the first quantity, can also include:
Step e obtains the image of third quantity when third quantity is less than or equal to the second quantity from image processor
Processor, and the image processor for controlling third quantity is electrically connected with the camera of third quantity.
Step f, control are taken pictures in the camera of status of electrically connecting, and by the second image transmitting taken pictures to correspondence
The image processor of electrical connection.
When the camera completion of the second quantity in the camera for controlling the first quantity is taken pictures, it will control is remaining to take the photograph
As head completion take pictures, i.e., control third quantity camera take pictures.Specifically, when third quantity is less than or equal to the second number
When amount, the image processor of third quantity will be selected to be electrically connected with the camera of third quantity from image processor, and control
Camera in status of electrically connecting is taken pictures, the image processor of the image transmitting that will be taken pictures to corresponding electrical connection.
Further, as shown in figure 4, in one embodiment, step 306, camera and image based on third quantity
The camera of processor electrical connection, control third quantity is taken pictures, and by the image taken pictures to be transmitted to corresponding electrical connection
Image processor, wherein third quantity and the second quantity and be equal to the first quantity, can also include:
Step 402, when third quantity is greater than the second quantity, taking the photograph for the second quantity is obtained from the camera of third quantity
As head, and the camera for controlling the second quantity is electrically connected with image processor.
Step 404, control is taken pictures in the camera of status of electrically connecting, and the image transmitting taken pictures to correspondence is electrically connected
The image processor connect, and disconnect the camera for being in status of electrically connecting.
Step 406, the camera based on the 4th quantity is electrically connected with image processor, and the camera of the 4th quantity of control is clapped
According to and by the image transmitting taken pictures to the image processor of corresponding electrical connection, wherein the 4th quantity and the second quantity and
Equal to third quantity.
When the camera completion of the second quantity in the camera for controlling the first quantity is taken pictures, it will control is remaining to take the photograph
As head completion take pictures, i.e., control third quantity camera take pictures.Specifically, when third quantity is greater than the second quantity,
The camera of the second quantity will be selected to be electrically connected with image processor from the camera of third quantity again, and controlled in electricity
The camera of connection status is taken pictures, and is then controlled the camera in status of electrically connecting when taking pictures and completing and is disconnected electrical connection, with
The camera for controlling the 4th quantity is electrically connected to complete to take pictures with image processor.
Further, when the camera for controlling the 4th quantity is taken pictures, when the 4th quantity is less than or equal to the second quantity,
Taking pictures for the camera of the 4th quantity can be completed based on mode described in step e to step f；When the 4th quantity is greater than second
When quantity, by taking pictures for the camera that can complete the 4th quantity according to mode described in step 402 to step 406, so that
All cameras are obtained to complete to take pictures.
It in the present embodiment, is procedural mode that the camera for being in any position in scaling board and being is taken pictures, scaling board exists
When some position, only all cameras complete once photo taking, and the position that can just control scaling board is adjusted.
In practical applications, the acquisition that image is completed in addition to controlling a camera first, then controls remaining two again
A camera completes the acquisition of image, can also control two cameras and complete the acquisition of image, then control remaining one and take the photograph
As head completes the acquisition of image.Substantially, in two distinct ways when obtaining target image, only each camera work
The node of work is different, to the actual no any influence of calibration.
It should be noted that the first camera, second camera and third camera are only used for imaging three
The differentiation of head, not any restriction, for example take pictures controlling the first camera, it is also possible to first control second camera
Or third camera is taken pictures.In addition, obtaining corresponding second when scaling board is in the second position or the third place
The mode of group image or third group image can obtain first group of image with scaling board in the present embodiment at first position
Mode is identical.
It should be understood that although each step in the flow chart of Fig. 2-4 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-4
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternately
It executes.
In one embodiment, as shown in figure 5, providing a kind of camera calibration device 500, comprising: electrical connection module
502, image collection module 504 and calibration processing module 506, in which:
Electrical connection module 502 is electrically connected for controlling camera with image processor, and a camera and an image
Processor electrical connection, wherein the quantity of camera is the first quantity, and the quantity of image processor is the second quantity, the first quantity
Greater than the second quantity；
Image collection module 504 is taken pictures for controlling camera, and the image transmitting taken pictures is electrically connected to corresponding
Image processor to obtain target image；
Processing module 506 is demarcated, for being demarcated based on target image, obtains corresponding calibration information.
In one embodiment, a kind of camera calibration device provided further includes powering on module.Wherein, module use is powered on
In when receiving photographing instruction, powered on to camera and image processor.
In one embodiment, a kind of image collection module provided is obtained including the first image collection module, the second image
Modulus block, third image collection module and image summarizing module.Wherein, image collection module is also used to based on locating for scaling board
Position, the image processor of the control camera image transmitting taking pictures, and camera is obtained to corresponding electrical connection, to obtain
Target image；First image collection module is used for when scaling board is in first position, and control camera is taken pictures, and will be acquired
Image transmitting to corresponding electrical connection image processor to obtain first group of image；Second image collection module is used for when calibration
When plate is in the second position, the image processor that camera takes pictures, and obtained image transmitting is electrically connected to correspondence is controlled
To obtain second group of image；Third image collection module is used for when scaling board is in the third place, and control camera is taken pictures, and
By the image processor of obtained image transmitting to corresponding electrical connection to obtain third group image；Image summarizing module is used for will
First group of image, second group of image and third group image summarize, and obtain target image.
In one embodiment, a kind of image collection module provided includes photo module, and wherein photo module includes the
One electrical connection module, the first photo module and the second photo module.Wherein, the first electrical connection module is used in the first quantity
The camera of the second quantity is obtained in camera, and the camera for controlling the second quantity is electrically connected with image processor, first count
Lighting module is used to control the camera in status of electrically connecting and takes pictures, by the image transmitting taken pictures to the figure of corresponding electrical connection
As processor, and disconnect the camera for being in status of electrically connecting, the second photo module for based on third quantity camera with
The camera of image processor electrical connection, control third quantity is taken pictures, and the image taken pictures is electrically connected with being transmitted to correspondence
The image processor connect, wherein third quantity and the second quantity and be equal to the first quantity.
In one embodiment, the second photo module of one kind provided further includes that the second electrical connection module and third shot are shone
Module.Wherein the second electrical connection module is used to obtain from image processor when third quantity is less than or equal to the second quantity
The image processor of third quantity, and the image processor for controlling third quantity is electrically connected with the camera of third quantity, third
Photo module is used to control the camera in status of electrically connecting and takes pictures, and the second image transmitting taken pictures is electric to corresponding to
The image processor of connection.
In one embodiment, the second electrical connection module of one kind provided is also used to be greater than the second quantity when third quantity
When, the camera of the second quantity is obtained from the camera of third quantity, and control the camera and image procossing of the second quantity
Device electrical connection, third photo module are also used to control the camera in status of electrically connecting and take pictures, the image taken pictures is passed
The image processor of corresponding electrical connection is transported to, and disconnects the camera for being in status of electrically connecting, the second photo module is also used to base
It is electrically connected in the camera of the 4th quantity with image processor, the camera of the 4th quantity of control is taken pictures, and will be taken pictures
Image transmitting to corresponding electrical connection image processor, wherein the 4th quantity and the second quantity and be equal to third quantity.
In one embodiment, a kind of camera calibration device provided further includes lower electric module.Wherein, lower electric module is used
It is electric under camera and image processor in controlling when obtaining target image.
Specific about camera calibration device limits the restriction that may refer to above for camera calibration method,
This is repeated no more.Modules in above-mentioned camera calibration device can come fully or partially through software, hardware and combinations thereof
It realizes.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with software
Form is stored in the memory in computer equipment, executes the corresponding operation of the above modules in order to which processor calls.
Fig. 6 is the structural block diagram of electronic equipment in one embodiment.As shown in fig. 6, the electronic equipment includes passing through system
The processor and memory of bus connection.Wherein, which supports entire electronic equipment for providing calculating and control ability
Operation.Memory may include non-volatile memory medium and built-in storage.Non-volatile memory medium is stored with operating system
And computer program.The computer program can be performed by processor, for realizing one provided by following each embodiment
Kind image processing method.Built-in storage provides cache for the operating system computer program in non-volatile memory medium
Running environment.The electronic equipment can be mobile phone, tablet computer or personal digital assistant or wearable device etc..
Realizing for the modules in image processing apparatus provided in the embodiment of the present application can be the shape of computer program
Formula.The computer program can be run in terminal or server.The program module that the computer program is constituted is storable in terminal
Or on the memory of server.When the computer program is executed by processor, method described in the embodiment of the present application is realized
Step.
The embodiment of the present application also provides a kind of electronic equipment.It include image processing circuit in above-mentioned electronic equipment, at image
Reason circuit can use hardware and or software component realization, it may include define ISP (Image Signal Processing, figure
As signal processing) the various processing units of pipeline.Fig. 7 is the schematic diagram of image processing circuit in one embodiment.Such as Fig. 7 institute
Show, for purposes of illustration only, only showing the various aspects of image processing techniques relevant to the embodiment of the present application.
Specifically, as shown in fig. 7, image processing circuit includes the first ISP processor 740,750 and of the 2nd ISP processor
Controller 760.First camera 710 includes one or more first lens 712 and the first imaging sensor 714.First image
Sensor 714 may include colour filter array (such as Bayer filter), and the first imaging sensor 714 can be obtained to be passed with the first image
The luminous intensity and wavelength information that each imaging pixel of sensor 714 captures, and provide and can be handled by the first ISP processor 740
One group of image data.Second camera 720 includes one or more second lens 722 and the second imaging sensor 724.Second figure
As sensor 724 may include colour filter array (such as Bayer filter), the second imaging sensor 724 can be obtained with the second image
The luminous intensity and wavelength information that each imaging pixel of sensor 724 captures, and provide and can be handled by the 2nd ISP processor 750
One group of image data.Third camera 730 includes one or more the third lens 732 and third imaging sensor 734.Third
Imaging sensor 734 may include colour filter array (such as Bayer filter), and third imaging sensor 734 can be obtained with third figure
As luminous intensity and wavelength information that each imaging pixel of sensor 734 captures, and provide can by the 2nd ISP processor 750 or
One group of image data of the first ISP processor 740 processing.
First image transmitting of the first camera 710 acquisition is handled to the first ISP processor 740, the first ISP processing
It, can be by statistical data (brightness of such as image, the contrast value of image, the face of image of the first image after device 740 handles the first image
Color etc.) it is sent to controller 760, controller 760 can determine the control parameter of the first camera 710 according to statistical data, thus
First camera 76 can carry out the operation such as auto-focusing, automatic exposure according to control parameter.First image is handled by the first ISP
Device 740 can store after being handled into video memory 770, and the first ISP processor 740 can also read video memory
The image stored in 770 is with to handling.In addition, the first image can directly transmit after ISP processor 740 is handled
It is shown to display 780, display 780 can also read the image in video memory 770 to be shown.
Wherein, the first ISP processor 740 handles image data pixel by pixel in various formats.For example, each image slices
Element can have the bit depth of 8,10,12 or 14 bits, and the first ISP processor 740 can carry out one or more figures to image data
Statistical information as processing operation, collection about image data.Wherein, image processing operations can be by identical or different bit depth
Computational accuracy carries out.
Video memory 770 can be independent dedicated in a part, storage equipment or electronic equipment of memory device
Memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
When receiving from the first 714 interface of imaging sensor, the first ISP processor 740 can carry out one or more
Image processing operations, such as time-domain filtering.Image data that treated can be transmitted to video memory 770, to be shown it
It is preceding to carry out other processing.First ISP processor 740 receives processing data from video memory 770, and to the processing data
Carry out the image real time transfer in RGB and YCbCr color space.Treated that image data is exportable for first ISP processor 740
To display 780, so that user watches and/or by graphics engine or GPU (Graphics Processing Unit, at figure
Reason device) it is further processed.In addition, the output of the first ISP processor 740 also can be transmitted to video memory 770, and display
780 can read image data from video memory 770.In one embodiment, video memory 770 can be configured to realization one
A or multiple frame buffers.
The statistical data that first ISP processor 740 determines can be transmitted to controller 760.For example, statistical data may include certainly
First image such as dynamic exposure, automatic white balance, automatic focusing, flicker detection, black level compensation, 712 shadow correction of the first lens
714 statistical information of sensor.Controller 760 may include the processor and/or micro-control for executing one or more routines (such as firmware)
Device processed, one or more routines can statistical data based on the received, determine the control parameter and the first ISP of the first camera 710
The control parameter of processor 740.For example, the control parameter of the first camera 710 may include gain, spectrum assignment integral when
Between, stabilization parameter, flash of light control parameter, 712 control parameter of the first lens (such as focus or zoom focal length) or these parameters
Combination etc..ISP control parameter may include the gain for automatic white balance and color adjustment (for example, during RGB processing)
Horizontal and 712 shadow correction parameter of color correction matrix and the first lens.
Similarly, the second image transmitting that second camera 720 acquires is handled to the 2nd ISP processor 750, and second
After ISP processor 750 handles the first image, can by the statistical data of the second image (brightness of such as image, image contrast value,
The color etc. of image) it is sent to controller 760, controller 760 can determine the control ginseng of second camera 720 according to statistical data
Number, so that second camera 720 can carry out the operation such as auto-focusing, automatic exposure according to control parameter.Second image is by the
Two ISP processors 750 can store after being handled into video memory 770, and the 2nd ISP processor 750 can also read figure
As the image that stores in memory 770 is with to handling.In addition, the second image can after ISP processor 750 is handled
It is sent directly to display 780 to be shown, display 780 can also read the image in video memory 770 to be shown
Show.Second camera 720 and the 2nd ISP processor 750 also may be implemented such as the first camera 710 and the first ISP processor 740
Described treatment process.
Similarly, the third image transmitting that third camera 730 acquires is handled to the 2nd ISP processor 750, and second
After ISP processor 750 handles the second image, can by the statistical data of third image (brightness of such as image, image contrast value,
The color etc. of image) it is sent to controller 760, controller 760 can determine the control ginseng of third camera 730 according to statistical data
Number, so that third camera 730 can carry out the operation such as auto-focusing, automatic exposure according to control parameter.Second image is by the
Two ISP processors 750 can store after being handled into video memory 770, and the 2nd ISP processor 750 can also read figure
As the image that stores in memory 770 is with to handling.In addition, the second image can after ISP processor 750 is handled
It is sent directly to display 780 to be shown, display 780 can also read the image in video memory 770 to be shown
Show.Third camera 730 and the 2nd ISP processor 750 also may be implemented such as second camera 720 and the 2nd ISP processor 750
Described treatment process.
In the present embodiment, third camera 730 can also give the third image transmitting of acquisition to the first ISP processor
740 are handled, after the first ISP processor 740 handles the first image, can by the statistical data of third image (such as image it is bright
Degree, the contrast value of image, the color of image etc.) it is sent to controller 760, controller 760 can determine third according to statistical data
The control parameter of camera 730, so that third camera 730 can carry out the behaviour such as auto-focusing, automatic exposure according to control parameter
Make.Second image can store after the first ISP processor 740 is handled into video memory 770, the first ISP processing
Device 740 can also read the image that stores in video memory 770 with to handling.In addition, the second image is handled by ISP
Device 750 can be sent directly to display 780 after being handled and be shown, display 780 can also read video memory 770
In image to be shown.Third camera 730 and the first ISP processor 740 also may be implemented such as 710 He of the first camera
Treatment process described in first ISP processor 740.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when the computer executable instructions are executed by one or more processors
When, so that the step of processor executes image processing method.
A kind of computer program product comprising instruction, when run on a computer, so that computer executes image
Processing method.
Any reference to memory, storage, database or other media used in this application may include non-volatile
And/or volatile memory.Nonvolatile memory may include that read-only memory (ROM), programming ROM (PROM), electricity can be compiled
Journey ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include random access memory
(RAM), it is used as external cache.By way of illustration and not limitation, RAM is available in many forms, such as static state RAM
(SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM), enhanced SDRAM
(ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) directly RAM (RDRAM), straight
Connect memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of camera calibration method, which comprises
Control camera is electrically connected with image processor, and a camera is electrically connected with an image processor, wherein described
The quantity of camera is the first quantity, and the quantity of described image processor is the second quantity, and first quantity is greater than described the
Two quantity；
It controls the camera to take pictures, and by the image processor of the image transmitting taken pictures to corresponding electrical connection to obtain mesh
Logo image；
It is demarcated based on the target image, obtains corresponding calibration information.
2. the method according to claim 1, wherein the method also includes:
When receiving photographing instruction, powered on to the camera and described image processor.
3. according to the method described in claim 2, it is characterized in that, the control camera is taken pictures, and will take pictures to obtain
Image transmitting to corresponding electrical connection image processor to obtain target image, comprising:
Based on the location of scaling board, image transmitting that the camera takes pictures, and the camera is obtained is controlled to right
The image processor that should be electrically connected, to obtain target image；Wherein,
It when the scaling board is in first position, controls the camera and takes pictures, and by obtained image transmitting to correspondence
The image processor of electrical connection is to obtain first group of image；
It when the scaling board is in the second position, controls the camera and takes pictures, and by obtained image transmitting to correspondence
The image processor of electrical connection is to obtain second group of image；
It when the scaling board is in the third place, controls the camera and takes pictures, and by obtained image transmitting to correspondence
The image processor of electrical connection is to obtain third group image；
First group of image, second group of image and the third group image are summarized, the target image is obtained.
4. according to the method described in claim 3, it is characterized in that, the control camera is taken pictures, comprising:
Obtain the camera of the second quantity in the camera of first quantity, and control the camera of second quantity with
The electrical connection of described image processor；
Control is taken pictures in the camera of status of electrically connecting, by the image transmitting taken pictures to the image procossing of corresponding electrical connection
Device, and disconnect the camera for being in status of electrically connecting；
Camera based on third quantity is electrically connected with described image processor, and the camera for controlling the third quantity is taken pictures,
And the image taken pictures is transmitted to the image processor of corresponding electrical connection, wherein the third quantity and described second
Quantity and be equal to first quantity.
5. according to the method described in claim 4, it is characterized in that, at the camera based on third quantity and described image
Device electrical connection is managed, the camera for controlling the third quantity is taken pictures, and by the image taken pictures to be transmitted to corresponding electrical connection
Image processor, comprising:
When the third quantity is less than or equal to second quantity, the figure of third quantity is obtained from described image processor
As processor, and the image processor for controlling the third quantity is electrically connected with the camera of the third quantity；
Control is taken pictures in the camera of status of electrically connecting, and the figure that the second image transmitting taken pictures is electrically connected to correspondence
As processor.
6. according to the method described in claim 5, it is characterized in that, at the camera based on third quantity and described image
Device electrical connection is managed, and the camera for controlling the third quantity is taken pictures, obtains corresponding second image to be transmitted to correspondence and be electrically connected
The image processor connect, further includes:
When the third quantity is greater than second quantity, taking the photograph for the second quantity is obtained from the camera of the third quantity
As head, and the camera for controlling second quantity is electrically connected with described image processor；
Control is taken pictures in the camera of status of electrically connecting, by the image transmitting taken pictures to the image procossing of corresponding electrical connection
Device, and disconnect the camera for being in status of electrically connecting；
Camera based on the 4th quantity is electrically connected with described image processor, and the camera for controlling the 4th quantity is taken pictures,
And the image processor for being electrically connected the image transmitting taken pictures to correspondence, wherein the 4th quantity and second number
Amount and be equal to the third quantity.
7. according to claim 1 to method described in 6 any one, which is characterized in that the method also includes:
When obtaining the target image, control electric under the camera and described image processor.
8. a kind of camera calibration device, which is characterized in that described device includes:
Electrical connection module is electrically connected for controlling camera with image processor, and a camera and an image processor
Electrical connection, wherein the quantity of the camera is the first quantity, and the quantity of described image processor is the second quantity, described the
One quantity is greater than second quantity；
Image collection module is taken pictures for controlling the camera, and the image transmitting taken pictures to correspondence is electrically connected
Image processor is to obtain target image；
Processing module is demarcated, for being demarcated based on the target image, obtains corresponding calibration information.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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