CN109379521B - Camera calibration method and device, computer equipment and storage medium - Google Patents
Camera calibration method and device, computer equipment and storage medium Download PDFInfo
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- CN109379521B CN109379521B CN201811455922.6A CN201811455922A CN109379521B CN 109379521 B CN109379521 B CN 109379521B CN 201811455922 A CN201811455922 A CN 201811455922A CN 109379521 B CN109379521 B CN 109379521B
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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
The application relates to a camera calibration method and device, a computer device and a storage medium. The method comprises the following steps: controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number; controlling the camera to shoot and transmitting the shot image to an image processor which is electrically connected correspondingly to obtain a target image; and calibrating based on the target image to obtain corresponding calibration information. The camera calibration method has the advantages that the situation of frequent power on and power off is effectively reduced in the camera calibration process, the target image acquisition accuracy is improved, and the calibration accuracy is further improved.
Description
Technical Field
The present application relates to the field of camera calibration technologies, and in particular, to a camera calibration method, apparatus, computer device, and computer-readable storage medium.
Background
The electronic equipment has a photographing function, and in order to make the photographing of the electronic equipment more accurate, the photographing function of the electronic equipment needs to be detected before the electronic equipment leaves a factory, that is, a camera is calibrated. The current calibration mode is too single and fixed, and meanwhile, when calibration is carried out, the acquisition of an image for calibration is not accurate enough, so that the calibration precision is not enough.
Disclosure of Invention
The embodiment of the application provides a camera calibration method, a camera calibration device, electronic equipment and a computer-readable storage medium, which can improve the accuracy of camera calibration.
A camera calibration method, the method comprising:
controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
controlling the camera to shoot and transmitting the shot image to an image processor which is electrically connected correspondingly to obtain a target image;
and calibrating based on the target image to obtain corresponding calibration information.
A camera calibration apparatus, the apparatus comprising:
the electric connection module is used for controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
the image acquisition module is used for controlling the camera to take a picture and transmitting the picture obtained by taking the picture to the image processor which is correspondingly and electrically connected so as to obtain a target image;
and the calibration processing module is used for performing calibration based on the target image to obtain corresponding calibration information.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
controlling the camera to shoot and transmitting the shot image to an image processor which is electrically connected correspondingly to obtain a target image;
and calibrating based on the target image to obtain corresponding calibration information.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
controlling the camera to shoot and transmitting the shot image to an image processor which is electrically connected correspondingly to obtain a target image;
and calibrating based on the target image to obtain corresponding calibration information.
According to the camera calibration method and device, the computer equipment and the storage medium, the cameras are controlled to be electrically connected with the image processors, one camera is electrically connected with one image processor, the number of the cameras is the first number, the number of the image processors is the second number, the first number is larger than the second number, then the cameras are controlled to shoot, the shot images are transmitted to the image processors which are correspondingly and electrically connected to obtain the target images, and finally calibration is carried out according to the obtained target images to obtain corresponding calibration information. The camera calibration method has the advantages that the situation of frequent power on and power off is effectively reduced in the camera calibration process, the target image acquisition accuracy is improved, and the calibration accuracy is further improved.
Drawings
FIG. 1 is a diagram of an application environment for a camera calibration method in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a camera calibration method according to one embodiment;
FIG. 3 is a flowchart illustrating steps of controlling a camera to take a picture in one embodiment;
FIG. 4 is a schematic flowchart of the steps of controlling the camera to take a photograph in another embodiment;
FIG. 5 is a block diagram of a camera calibration apparatus according to an embodiment;
FIG. 6 is a block diagram of an electronic device in one embodiment;
FIG. 7 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a schematic diagram of an application environment of an image processing method in an embodiment. As shown in fig. 1, the application environment includes an electronic device 100. When the electronic device 100 receives a corresponding control instruction, the cameras are controlled to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number.
In one embodiment, as shown in fig. 2, a camera calibration method is provided, which is described by taking the method as an example applied to the electronic device in fig. 1, and includes the following steps:
In practical application, when the camera takes a picture, the camera needs to be electrically connected with the image processor to finish corresponding picture taking. Therefore, when the calibrated image is obtained, the camera needs to be controlled to be electrically connected with the image processor, and then the shooting and obtaining of the image are completed. Specifically, the control camera is electrically connected with the image processor, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is greater than the second number.
Further, before controlling the camera to be electrically connected with the image processor, the method further comprises: and when a photographing instruction is received, powering on the camera and the image processor.
The power-on means that a power switch is switched on for the equipment, so that the equipment is in an operating state. Specifically, when the electronic device receives a photographing instruction, the camera and the image processor are powered on, so that the camera and the image processor are in a running state.
And 204, controlling the camera to take a picture, and transmitting the picture obtained by taking the picture to an image processor electrically connected correspondingly to obtain a target image.
The calibration plate is a geometric model which needs to be established for camera imaging in the applications of machine vision, image measurement, photogrammetry, three-dimensional reconstruction and the like, and is used for correcting lens distortion, determining a conversion relation between a physical size and pixels, and determining a mutual relation between a three-dimensional geometric position of a certain point on the surface of a space object and a corresponding point in an image. In a camera of electronic equipment, a flat plate with a pattern array with fixed spacing is shot by the camera, and a geometric model of the camera can be obtained through calculation of a calibration algorithm, so that high-precision measurement and reconstruction results are obtained, wherein the flat plate with the pattern array with fixed spacing is the calibration plate.
When a photographing instruction is received, the three cameras are controlled to photograph after the cameras and the image processor are powered on. Specifically, when taking a picture, the camera is actually controlled to take a picture according to the position of the calibration plate so as to obtain a corresponding target image, and in the shooting process, the camera needs to be connected with the image processor to complete the shooting of the image. When a photographing instruction is received, the cameras are controlled to be electrically connected with the image processors, and because the number of the cameras is more than that of the image processors, all the cameras cannot be controlled to photograph at the same time, and further when the cameras are controlled to finish photographing, a certain sequence exists, namely after part of the cameras finish photographing, photographing of the rest of the cameras is finished. When the camera is connected with the image processor, the corresponding connection relationship is not particularly limited.
In practical application, after the cameras are electrically connected with the corresponding image processors, the cameras take pictures to obtain corresponding target images, each camera takes pictures correspondingly to obtain one image, and meanwhile, when the calibration plate is located at different positions, the cameras also take pictures once. That is to say, when the calibration board is located at a certain position, all the cameras will take a picture to obtain a group of images corresponding to the position. After the calibration plate is fixed at each position to obtain the image corresponding to each position, summarizing to obtain the target image.
When calibration is needed, in order to perform calibration more accurately, images of the calibration plate at different positions need to be obtained, and then corresponding calibration information can be accurately obtained. Specifically, the target image is acquired according to a preset image acquisition mode, specifically, the position of the calibration plate is controlled to change, a corresponding image is obtained, and then the target image is obtained. Taking an electronic device with three cameras and two image processors as an example, in this embodiment, the control of the position of the calibration board is controlled by a user, and when the calibration board is located at the first position, the first camera, the second camera and the third camera are controlled to take pictures to obtain a first group of images corresponding to the first position, wherein when the three cameras are controlled to take pictures, the two cameras can be selected to be electrically connected with the two image processors to finish the picture taking, and then the third camera is controlled to be electrically connected with one of the two image processors to finish the picture taking. Similarly, when the calibration plate is located at the second position and the third position, the first camera, the second camera and the third camera are controlled to take pictures, so that a second group of images corresponding to the second position and a third group of images corresponding to the third position are obtained. And then summarizing the first group of images, the second group of images and the third group of images to obtain a target image.
In addition, in this embodiment, the number of the cameras and the image processors is not limited, and a manner of image acquisition when three cameras and two image processors are described in the above embodiment, when the number of the cameras is four, and the number of the image processors is three, three cameras of the four cameras may be controlled to be electrically connected with the three image processors first, and then after the photographing is completed, the last camera is controlled to be electrically connected with any one image processor of the three image processors to complete the photographing. Similarly, one camera can be controlled to be electrically connected to complete photographing, and then the remaining three cameras are controlled to be electrically connected with the three image processors to complete photographing. For any number of cameras and any number of image processors less than the number of cameras, the obtaining of the calibration image can be completed according to the manner described in this embodiment.
Further, before calibration, the method further comprises: and when the target image is obtained, controlling the camera and the image processor to be powered off.
The power-off means that the power switch of the equipment is turned off to enable the equipment to be in an off state.
After the target image is obtained, that is, the target image acquisition is finished, the camera and the image processor need to be controlled to stop working at the moment. Specifically, after the target image is obtained, the camera and the image processor are controlled to be powered off, so that the camera and the image processor are in an off operation state.
And step 206, calibrating based on the target image to obtain corresponding calibration information.
The calibration mainly refers to whether the accuracy or precision of a used instrument is detected to meet a standard by using a standard measuring instrument, and is generally used for instruments with higher precision. Calibration may also be considered calibration. Therefore, the term "calibration" may be considered to include both of the above meanings.
Specifically, after the target image is obtained, the target image is calibrated to obtain corresponding calibration information, and the obtained calibration information is stored. The camera is calibrated so that the image obtained by the camera in the photographing process is more accurate and various abnormal images cannot appear. In practical application, during calibration, single-shot calibration is firstly performed, and then double-shot calibration is performed, so that finally corresponding calibration information is obtained.
The single-shot calibration is to calibrate the parameters of each camera, and according to the above steps, when the calibration plate is located at different positions, the cameras can acquire images once, and usually, when the calibration plate is calibrated, the calibration plate needs to be controlled to be located at least 3 different positions, so as to obtain corresponding images to calibrate the corresponding cameras. Assuming that the position of the calibration board is 3 and there are only three cameras, taking the first camera as an example, when the calibration board is in three different positions, the first camera will acquire one image, so that when the first camera is calibrated for single shooting, the three images corresponding to the first camera are analyzed to realize the calibration for single shooting of the first camera. After the single-shot calibration information corresponding to each camera is obtained, double-shot calibration is carried out, and the final calibration information is obtained through analysis and processing according to the single-shot calibration information corresponding to each camera.
When the single-shot calibration is carried out on the camera, the calibration determination is carried out on the internal reference and the external reference of the camera, wherein the internal reference of the single camera can comprise fx、fy、cx、cyWherein f isxRepresenting the unit pixel size, f, of the focal length in the x-axis direction of the image coordinate systemyDenotes the unit pixel size of the focal length in the y-axis direction of the image coordinate system, cx、cyRepresenting principal point coordinates of the image plane, the principal point being an intersection of the optical axis and the image plane; the external parameters of the single camera comprise a rotation matrix and a translation matrix which are converted from the coordinates under the world coordinate system to the coordinates under the camera coordinate system. That is, when the single shot calibration is performed, the above parameters of the camera are determined.
When the double-camera calibration is performed, the external parameter value corresponding to the camera module formed by combining the two cameras is determined, and specifically, the external parameter value comprises a rotation matrix between the two cameras and a translation matrix between the two cameras. In this embodiment, a first camera and a third camera are set as visible light cameras, and the second camera is a depth camera, where the first camera and the third camera may both be color cameras, or one is a black-and-white camera, and one is a color camera, or two black-and-white cameras. When the three cameras are subjected to double-shooting calibration, different double-shooting combinations exist, such as the double-shooting combination of the first camera and the second camera and the double-shooting combination of the third camera and the second camera. After obtaining the parameters needing calibration determination, storing the parameters.
In the camera calibration method, when calibration is needed, a corresponding photographing instruction is sent to the electronic equipment, when the electronic equipment receives the photographing instruction, the cameras are controlled to be electrically connected with the image processors, one camera is electrically connected with one image processor, the number of the cameras is a first number, the number of the image processors is a second number, the first number is larger than the second number, then the cameras are controlled to photograph, images obtained by photographing are transmitted to the image processors which are electrically connected correspondingly to obtain target images, and finally calibration is carried out according to the obtained target images to obtain corresponding calibration information. The camera calibration method has the advantages that the situation of frequent power on and power off is effectively reduced in the camera calibration process, the target image acquisition accuracy is improved, and the calibration accuracy is further improved.
In one embodiment, controlling the camera to take a picture and transmitting the picture obtained by taking the picture to the image processor electrically connected correspondingly to obtain a target image comprises: and controlling the camera to take pictures based on the position of the calibration plate, and transmitting the images obtained by the camera to the image processor which is electrically connected correspondingly to obtain the target images. Specifically, obtaining the target image includes:
step a, when the calibration plate is located at a first position, controlling the camera to shoot and transmitting the obtained images to the image processor which is correspondingly electrically connected so as to obtain a first group of images.
And b, when the calibration plate is positioned at the second position, controlling the camera to shoot and transmitting the obtained images to the image processor which is correspondingly and electrically connected so as to obtain a second group of images.
And c, when the calibration plate is positioned at the third position, controlling the camera to shoot and transmitting the obtained image to the image processor which is correspondingly and electrically connected so as to obtain a third group of images.
And d, summarizing the first group of images, the second group of images and the third group of images to obtain a target image.
Specifically, when a target image is obtained, the target image is obtained according to a preset image obtaining rule, and when the target image is actually obtained, the calibration plate is controlled to rotate, so that images corresponding to different positions of the calibration plate are obtained, and the target image to be calibrated is obtained. In this embodiment, the three positions of the calibration board are taken as an example, and the three positions are respectively the first position, the second position and the third position, so that the calibration board is located at three different positions by rotating the calibration board, specifically, the calibration board is rotated by a corresponding angle, and specifically, the angle is obtained according to the experimental test result. When the calibration plate is respectively located at the first position, the second position and the third position, the first camera, the second camera and the third camera are controlled to shoot so as to respectively obtain a group of images shot at each position, and then the group of images are summarized to obtain a target image to be calibrated.
Further, when the calibration plate is obtained at different positions, the camera is controlled to take pictures. Specifically, as shown in fig. 3, controlling the camera to take a picture includes:
and step 302, acquiring a second number of cameras from the first number of cameras, and controlling the second number of cameras to be electrically connected with the image processor.
And step 304, controlling the camera in the electric connection state to shoot, transmitting the shot image to the image processor in the corresponding electric connection state, and disconnecting the camera in the electric connection state.
And step 306, controlling a third number of cameras to take pictures based on the third number of cameras and the image processor, and transmitting the pictures to the image processor which is electrically connected correspondingly, wherein the sum of the third number and the second number is equal to the first number.
According to the position of the calibration plate, the camera is controlled to shoot, and particularly, when the calibration plate is located at different positions, the camera is controlled to shoot so as to obtain corresponding images.
When the cameras are controlled to photograph, the cameras need to be connected with corresponding image processors, specifically, when the cameras need to be controlled to photograph to obtain corresponding images, because the number of the cameras is larger than that of the image processors, all the cameras cannot be controlled to photograph simultaneously, a second number of cameras obtained from a first number of cameras are firstly electrically connected with the second number of image processors, one camera is electrically connected with one image processor, and the connection relationship between the cameras and the image processors is not particularly limited, then the cameras can be controlled to photograph, the obtained images are transmitted to the image processors which are electrically connected correspondingly after the second number of cameras finish photographing, then the electrical connection between the cameras in an electrical connection state and the image processors is disconnected, and finally a third number of cameras are electrically connected with the image processors, and controlling a third number of cameras to shoot, wherein the sum of the third number and the second number is the first number, and the image set obtained by shooting by all the cameras is the target image for calibration.
Taking the number of the cameras of the electronic device as three and the number of the image processors as two as an example, when the target image is obtained, the three cameras cannot simultaneously obtain the image, and to a certain extent, the obtaining of the images corresponding to different cameras has a certain difference, which is mainly reflected in that the images cannot be obtained simultaneously. Therefore, when the cameras are controlled to acquire images, the images of the cameras are acquired in a certain sequence, in this embodiment, taking the calibration plate at the first position as an example, assuming that the two image processors are the first image processor and the second image processor, when the calibration plate is at the first position, the first camera is controlled to establish electrical connection with the first image processor, so as to control the first camera to photograph to obtain the first image; then the first camera is disconnected from the first image processor; and after the second image and the third image are obtained, the second camera and the third camera are controlled to be respectively electrically disconnected with the corresponding image processors. It should be noted that, when the first camera is first controlled to take a picture, the first camera may be electrically connected to the second image processor in addition to the first image processor.
Similarly, for example, when images are acquired, the first camera and the second camera may be controlled to be electrically connected with the two image processors respectively to control the first camera and the second camera to photograph, then the first camera and the second camera are electrically disconnected from the two image processors after the first image and the second image corresponding to the first camera and the second camera are obtained, then the third camera is controlled to be electrically connected with any one of the two image processors to control the third camera to photograph to obtain a third image, and the third camera is electrically disconnected from the corresponding image processor after the third image is obtained.
Further, when the calibration board is at the second position, a second set of images will be obtained, the second images corresponding to the second position; and when the calibration plate is at the third position, a third image corresponding to the third position is obtained. It should be noted that, when the calibration board is at the second position or the third position, the manner of acquiring the corresponding second set of images or the third set of images may be the same as the manner of acquiring the first set of images when the calibration board is at the first position in this embodiment. In addition, since there is no limitation on the number of cameras and image processors, in the case of other numbers of combinations, photographing of all cameras can be completed based on the manner described in the present embodiment.
It should be noted that, in this embodiment, the first camera, the second camera, and the third camera described in the distance description are only used for distinguishing the three cameras, and there is no limitation, for example, when the first camera is controlled to take a picture, the second camera or the third camera may be controlled to take a picture first.
Further, in an embodiment, step 306, based on that a third number of cameras are electrically connected to the image processor, controlling the third number of cameras to take a picture, and transmitting the picture obtained by taking the picture to the corresponding electrically connected image processor, where a sum of the third number and the second number is equal to the first number, may further include:
and e, when the third number is smaller than or equal to the second number, acquiring the third number of image processors from the image processors, and controlling the third number of image processors to be electrically connected with the third number of cameras.
And f, controlling the camera in the electric connection state to take a picture, and transmitting a second image obtained by taking the picture to the image processor which is correspondingly and electrically connected.
When the cameras of the second number in the cameras of the first number are controlled to finish photographing, the remaining cameras are controlled to finish photographing, namely, the cameras of the third number are controlled to photograph. Specifically, when the third number is less than or equal to the second number, the third number of image processors selected from the image processors are electrically connected with the third number of cameras, and the cameras in the electrically connected state are controlled to take a picture, so that the picture obtained by taking the picture is transmitted to the image processors correspondingly electrically connected.
Further, as shown in fig. 4, in an embodiment, step 306, based on that a third number of cameras are electrically connected to the image processor, controls the third number of cameras to take a picture, and transmits the picture obtained by taking the picture to the image processor electrically connected correspondingly, where a sum of the third number and the second number is equal to the first number, and may further include:
and 402, when the third number is larger than the second number, acquiring the second number of cameras from the third number of cameras, and controlling the second number of cameras to be electrically connected with the image processor.
And step 404, controlling the camera in the electric connection state to shoot, transmitting the shot image to an image processor in corresponding electric connection, and disconnecting the camera in the electric connection state.
And 406, controlling the fourth number of cameras to photograph based on the fourth number of cameras and the image processor, and transmitting the photographed images to the image processor which is electrically connected correspondingly, wherein the sum of the fourth number and the second number is equal to the third number.
When the cameras of the second number in the cameras of the first number are controlled to finish photographing, the remaining cameras are controlled to finish photographing, namely, the cameras of the third number are controlled to photograph. Specifically, when the third number is greater than the second number, the second number of cameras are selected from the third number of cameras again to be electrically connected with the image processor, the cameras in the electrically connected state are controlled to take a picture, and then the cameras in the electrically connected state are controlled to be electrically disconnected when the picture taking is completed, so that the fourth number of cameras are controlled to be electrically connected with the image processor to complete the picture taking.
Further, when the fourth number of cameras is controlled to take a picture, when the fourth number is less than or equal to the second number, taking a picture of the fourth number of cameras may be completed based on the manner described in steps e to f; when the fourth number is greater than the second number, the photographing of the fourth number of cameras can be completed in the manner described in steps 402 to 406, so that all the cameras complete photographing.
In this embodiment, the calibration plate is in a process mode of photographing by the cameras at any position, and when the calibration plate is at a certain position, the position of the calibration plate can be controlled to be adjusted only when all the cameras finish photographing once.
In practical application, except that one camera is controlled to finish image acquisition, the rest two cameras are controlled to finish image acquisition, the two cameras can be controlled to finish image acquisition, and the rest one camera is controlled to finish image acquisition. In essence, when the target image is acquired in two different modes, only the working nodes of the cameras are different, and the actual calibration is not affected.
It should be noted that the first camera, the second camera, and the third camera are only used for distinguishing the three cameras, and there is no limitation, for example, the first camera may be controlled to take a picture, or the second camera or the third camera may be controlled to take a picture first. In addition, when the calibration board is at the second position or the third position, the corresponding second set of images or third set of images may be acquired in the same manner as the first set of images acquired when the calibration board is at the first position in this embodiment.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a camera calibration apparatus 500, including: an electrical connection module 502, an image acquisition module 504, and a calibration processing module 506, wherein:
the electric connection module 502 is used for controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
the image acquisition module 504 is used for controlling the camera to take a picture and transmitting the picture obtained by taking the picture to the image processor which is electrically connected correspondingly so as to obtain a target image;
and a calibration processing module 506, configured to perform calibration based on the target image to obtain corresponding calibration information.
In one embodiment, the camera calibration apparatus further includes a power-on module. The power-on module is used for powering on the camera and the image processor when receiving a photographing instruction.
In one embodiment, an image acquisition module is provided that includes a first image acquisition module, a second image acquisition module, a third image acquisition module, and an image aggregation module. The image acquisition module is also used for controlling the camera to take a picture based on the position of the calibration plate and transmitting the image obtained by the camera to the image processor which is electrically connected correspondingly so as to obtain a target image; the first image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at the first position, and transmitting the obtained image to the image processor which is correspondingly and electrically connected so as to obtain a first group of images; the second image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at a second position, and transmitting the obtained image to the image processor which is correspondingly and electrically connected so as to obtain a second group of images; the third image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at a third position, and transmitting the obtained image to the image processor which is electrically connected correspondingly to obtain a third group of images; the image summarizing module is used for summarizing the first group of images, the second group of images and the third group of images to obtain a target image.
In one embodiment, the image capturing module includes a photographing module, wherein the photographing module includes a first electrical connection module, a first photographing module, and a second photographing module. The first electric connection module is used for acquiring a second number of cameras from the first number of cameras, controlling the second number of cameras to be electrically connected with the image processor, the first photographing module is used for controlling the cameras in an electric connection state to photograph, transmitting the photographed images to the image processor in corresponding electric connection state and disconnecting the cameras in the electric connection state, the second photographing module is used for being electrically connected with the image processor based on the third number of cameras, controlling the third number of cameras to photograph and transmitting the photographed images to the image processor in corresponding electric connection state, wherein the sum of the third number and the second number is equal to the first number.
In one embodiment, a second photographing module is provided, which further comprises a second electrical connection module and a third photographing module. The second electric connection module is used for acquiring the image processors of the third number from the image processors when the third number is smaller than or equal to the second number, controlling the image processors of the third number to be electrically connected with the cameras of the third number, and the third photographing module is used for controlling the cameras in the electric connection state to photograph and transmitting a second image obtained by photographing to the image processors which are correspondingly and electrically connected.
In an embodiment, the second electrical connection module is further configured to, when the third number is greater than the second number, obtain a second number of cameras from the third number of cameras and control the second number of cameras to be electrically connected to the image processor, the third photographing module is further configured to control the cameras in an electrically connected state to photograph, transmit an image obtained by photographing to the image processor in the corresponding electrical connection, and disconnect the cameras in the electrically connected state, and the second photographing module is further configured to, based on the fourth number of cameras and the image processor, control the fourth number of cameras to photograph, and transmit an image obtained by photographing to the image processor in the corresponding electrical connection, where a sum of the fourth number and the second number is equal to the third number.
In one embodiment, a camera calibration device is provided, which further comprises a power-down module. The power-down module is used for controlling the camera and the image processor to be powered down when a target image is obtained.
For specific limitations of the camera calibration device, reference may be made to the above limitations of the camera calibration method, which are not described herein again. The various modules in the camera-calibration arrangement described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
FIG. 6 is a block diagram of an electronic device in one embodiment. As shown in fig. 6, the electronic device includes a processor and a memory connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole electronic equipment. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor to implement an image processing method provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The electronic device may be a mobile phone, a tablet computer, or a personal digital assistant or a wearable device, etc.
The implementation of each module in the image processing apparatus provided in the embodiment of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.
The embodiment of the application also provides the electronic equipment. The electronic device includes therein an Image Processing circuit, which may be implemented using hardware and/or software components, and may include various Processing units defining an ISP (Image Signal Processing) pipeline. FIG. 7 is a schematic diagram of an image processing circuit in one embodiment. As shown in fig. 7, for convenience of explanation, only aspects of the image processing technology related to the embodiments of the present application are shown.
Specifically, as shown in fig. 7, the image processing circuit includes a first ISP processor 740, a second ISP processor 750, and a controller 760. The first camera 710 includes one or more first lenses 712 and a first image sensor 714. The first image sensor 714 may include an array of color filters (e.g., Bayer filters), and the first image sensor 714 may acquire light intensity and wavelength information captured with each imaging pixel of the first image sensor 714 and provide a set of image data that may be processed by the first ISP processor 740. The second camera 720 includes one or more second lenses 722 and a second image sensor 724. The second image sensor 724 may include a color filter array (e.g., a Bayer filter), and the second image sensor 724 may acquire light intensity and wavelength information captured with each imaging pixel of the second image sensor 724 and provide a set of image data that may be processed by the second ISP processor 750. The third camera 730 includes one or more third lenses 732 and a third image sensor 734. The third image sensor 734 may include an array of color filters (e.g., Bayer filters), and the third image sensor 734 may acquire the light intensity and wavelength information captured with each imaging pixel of the third image sensor 734 and provide a set of image data that may be processed by the second ISP processor 750 or the first ISP processor 740.
The first image collected by the first camera 710 is transmitted to the first ISP processor 740 for processing, after the first ISP processor 740 processes the first image, the statistical data of the first image (such as the brightness of the image, the contrast value of the image, the color of the image, etc.) may be sent to the controller 760, and the controller 760 may determine the control parameter of the first camera 710 according to the statistical data, so that the first camera 76 may perform operations such as auto-focus and auto-exposure according to the control parameter. The first image may be stored in the image memory 770 after being processed by the first ISP processor 740, and the first ISP processor 740 may also read the image stored in the image memory 770 to process the image. In addition, the first image may be directly transmitted to the display 780 for display after being processed by the ISP processor 740, and the display 780 may also read and display the image in the image memory 770.
Wherein the first ISP processor 740 processes the image data pixel by pixel in a plurality of formats. For example, each image pixel may have a bit depth of 8, 10, 12, or 14 bits, and the first ISP processor 740 may perform one or more image processing operations on the image data, collecting statistical information about the image data. Wherein the image processing operations may be performed with the same or different bit depth calculation accuracy.
The image Memory 770 may be a portion of a Memory device, a storage device, or a separate dedicated Memory within an electronic device, and may include a DMA (Direct Memory Access) feature.
Upon receiving an interface from the first image sensor 714, the first ISP processor 740 may perform one or more image processing operations, such as temporal filtering. The processed image data may be sent to image memory 770 for additional processing before being displayed. The first ISP processor 740 receives the processed data from the image memory 770 and performs image data processing in RGB and YCbCr color spaces on the processed data. The image data processed by the first ISP processor 740 may be output to a display 780 for viewing by a user and/or further processed by a Graphics Processing Unit (GPU). Further, the output of the first ISP processor 740 may also be sent to an image memory 770, and the display 780 may read image data from the image memory 770. In one embodiment, image memory 770 may be configured to implement one or more frame buffers.
The statistics determined by the first ISP processor 740 may be sent to the controller 760. For example, the statistical data may include first image sensor 714 statistical information such as auto-exposure, auto-white balance, auto-focus, flicker detection, black level compensation, first lens 712 shading correction, and the like. Controller 760 may include a processor and/or microcontroller that executes one or more routines (e.g., firmware) that determine control parameters for first camera 710 and control parameters for first ISP processor 740 based on the received statistical data. For example, the control parameters of the first camera 710 may include gain, integration time of exposure control, anti-shake parameters, flash control parameters, first lens 712 control parameters (e.g., focal length for focusing or zooming), or a combination of these parameters, and the like. The ISP control parameters may include gain levels and color correction matrices for automatic white balance and color adjustment (e.g., during RGB processing), as well as first lens 712 shading correction parameters.
Similarly, the second image collected by the second camera 720 is transmitted to the second ISP processor 750 for processing, after the second ISP processor 750 processes the first image, the statistical data of the second image (such as the brightness of the image, the contrast value of the image, the color of the image, etc.) may be sent to the controller 760, and the controller 760 may determine the control parameter of the second camera 720 according to the statistical data, so that the second camera 720 may perform operations such as auto-focus and auto-exposure according to the control parameter. The second image may be stored in the image memory 770 after being processed by the second ISP processor 750, and the second ISP processor 750 may also read the image stored in the image memory 770 to process the image. In addition, the second image may be directly transmitted to the display 780 for display after being processed by the ISP processor 750, and the display 780 may also read and display the image in the image memory 770. The second camera 720 and the second ISP processor 750 may also implement the processes described for the first camera 710 and the first ISP processor 740.
Similarly, the third image collected by the third camera 730 is transmitted to the second ISP processor 750 for processing, after the second ISP processor 750 processes the second image, the statistical data of the third image (such as the brightness of the image, the contrast value of the image, the color of the image, etc.) may be sent to the controller 760, and the controller 760 may determine the control parameter of the third camera 730 according to the statistical data, so that the third camera 730 may perform operations such as auto-focus and auto-exposure according to the control parameter. The second image may be stored in the image memory 770 after being processed by the second ISP processor 750, and the second ISP processor 750 may also read the image stored in the image memory 770 to process the image. In addition, the second image may be directly transmitted to the display 780 for display after being processed by the ISP processor 750, and the display 780 may also read and display the image in the image memory 770. Third camera 730 and second ISP processor 750 may also implement the processes described for second camera 720 and second ISP processor 750.
In this embodiment, the third camera 730 may further transmit the collected third image to the first ISP processor 740 for processing, after the first ISP processor 740 processes the first image, the first ISP processor 740 may send statistical data (such as brightness of the image, contrast value of the image, color of the image, and the like) of the third image to the controller 760, and the controller 760 may determine the control parameter of the third camera 730 according to the statistical data, so that the third camera 730 may perform operations such as auto-focus and auto-exposure according to the control parameter. The second image may be stored in the image memory 770 after being processed by the first ISP processor 740, and the first ISP processor 740 may also read the image stored in the image memory 770 to process the image. In addition, the second image may be directly transmitted to the display 780 for display after being processed by the ISP processor 750, and the display 780 may also read and display the image in the image memory 770. The third camera 730 and the first ISP processor 740 may also implement the processes as described for the first camera 710 and the first ISP processor 740.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the image processing method.
A computer program product comprising instructions which, when run on a computer, cause the computer to perform an image processing method.
Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A camera calibration method, the method comprising:
when a photographing instruction is received, all cameras and all image processors are powered on;
controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
controlling the cameras to take pictures, controlling all the cameras to take pictures once when the calibration plate is at a certain position, transmitting the pictures obtained by taking pictures to image processors which are correspondingly and electrically connected to obtain a group of images corresponding to the position, then controlling the calibration plate to rotate to other positions and respectively obtaining a group of images corresponding to each position, and summarizing the groups of images obtained at all the positions to obtain a target image;
when the target image is obtained, controlling all the cameras and all the image processors to be powered off;
and calibrating based on the target image to obtain corresponding calibration information.
2. The method according to claim 1, wherein the controlling the cameras to photograph, and when the calibration board is at a certain position, all the cameras take a photograph once, and the photographed images are transmitted to the image processors electrically connected to the calibration board to obtain a set of images corresponding to the certain position, and then the calibration board is controlled to rotate to other positions to obtain a set of images corresponding to the certain position, and the sets of images obtained at all the positions are collected to obtain the target image, comprises:
controlling the camera to shoot based on the position of the calibration plate, and transmitting the image obtained by the camera to an image processor which is electrically connected correspondingly to obtain a target image; wherein the content of the first and second substances,
when the calibration plate is located at a first position, controlling the camera to shoot and transmitting the obtained images to an image processor which is correspondingly electrically connected so as to obtain a first group of images;
when the calibration plate is located at the second position, controlling the camera to shoot and transmitting the obtained images to an image processor which is correspondingly and electrically connected so as to obtain a second group of images;
when the calibration plate is located at a third position, controlling the camera to shoot and transmitting the obtained image to an image processor which is correspondingly and electrically connected so as to obtain a third group of images;
and summarizing the first group of images, the second group of images and the third group of images to obtain the target image.
3. The method of claim 2, wherein the controlling the camera to take a picture comprises:
acquiring a second number of cameras from the first number of cameras, and controlling the second number of cameras to be electrically connected with the image processor;
controlling the camera in the electric connection state to shoot, transmitting an image obtained by shooting to an image processor which is correspondingly electrically connected, and disconnecting the camera in the electric connection state;
the method comprises the steps that based on the fact that a third number of cameras are electrically connected with an image processor, the third number of cameras are controlled to shoot images, and the shot images are transmitted to the corresponding electrically connected image processor, wherein the sum of the third number and the second number is equal to the first number.
4. The method according to claim 3, wherein the controlling the third number of cameras to take pictures based on the third number of cameras being electrically connected with the image processor and transmitting the pictures to the corresponding electrically connected image processor comprises:
when the third number is smaller than or equal to the second number, acquiring a third number of image processors from the image processors, and controlling the third number of image processors to be electrically connected with the third number of cameras;
and controlling the camera in the electric connection state to shoot, and transmitting a second image obtained by shooting to the image processor which is correspondingly and electrically connected.
5. The method of claim 4, wherein the third number of cameras are electrically connected to the image processor and are controlled to take a picture, and a corresponding second image is obtained for transmission to the corresponding electrically connected image processor, further comprising:
when the third number is larger than the second number, acquiring a second number of cameras from the third number of cameras, and controlling the second number of cameras to be electrically connected with the image processor;
controlling the camera in the electric connection state to shoot, transmitting the shot image to an image processor which is correspondingly electrically connected, and disconnecting the camera in the electric connection state;
the cameras based on the fourth number are electrically connected with the image processor, the cameras of the fourth number are controlled to shoot, and images obtained through shooting are transmitted to the image processor which is electrically connected correspondingly, wherein the sum of the fourth number and the second number is equal to the third number.
6. A camera calibration device, characterized in that the device comprises:
the power-on module is used for powering on all the cameras and all the image processors when receiving the photographing instruction;
the electric connection module is used for controlling the cameras to be electrically connected with the image processors, and one camera is electrically connected with one image processor, wherein the number of the cameras is a first number, the number of the image processors is a second number, and the first number is larger than the second number;
the image acquisition module is used for controlling the cameras to take pictures, all the cameras take pictures once when the calibration plate is located at a certain position, the pictures obtained by taking pictures are transmitted to the image processors which are correspondingly and electrically connected to obtain a group of pictures corresponding to the position, then the calibration plate is controlled to rotate to other positions to respectively obtain a group of pictures corresponding to each position, and all the groups of pictures obtained at all the positions are collected to obtain a target picture;
the power-down module is used for controlling all the cameras and all the image processors to be powered down when the target image is obtained;
and the calibration processing module is used for performing calibration based on the target image to obtain corresponding calibration information.
7. The device of claim 6, wherein the image processing module is further configured to control the camera to take a picture based on the position of the calibration plate, and transmit the image obtained by the camera to the image processor electrically connected correspondingly to obtain the target image; the image processing module includes:
the first image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at a first position, and transmitting the obtained image to the image processor which is electrically connected correspondingly to obtain a first group of images;
the second image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at a second position, and transmitting the obtained image to the image processor which is electrically connected correspondingly to obtain a second group of images;
the third image acquisition module is used for controlling the camera to take a picture when the calibration plate is positioned at a third position, and transmitting the obtained image to the image processor which is electrically connected correspondingly to obtain a third group of images;
and the image summarizing module is used for summarizing the first group of images, the second group of images and the third group of images to obtain the target image.
8. The apparatus of claim 7, wherein the image acquisition module further comprises a photographing module, the photographing module comprising:
the first electric connection module is used for acquiring a second number of cameras from the first number of cameras and controlling the second number of cameras to be electrically connected with the image processor;
the first photographing module is used for controlling the camera in the electric connection state to photograph, transmitting an image obtained by photographing to the image processor in the corresponding electric connection state and disconnecting the camera in the electric connection state;
and the second photographing module is used for controlling the cameras of the third number to photograph based on the cameras of the third number and the image processor to be electrically connected, and transmitting the photographed images to the corresponding image processor, wherein the sum of the third number and the second number is equal to the first number.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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| CN108257182A (en) * | 2016-12-29 | 2018-07-06 | 深圳超多维光电子有限公司 | A kind of scaling method and device of three-dimensional camera module |
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| US9594028B2 (en) * | 2012-07-24 | 2017-03-14 | Generic Power Pte Ltd | Method and apparatus for determining coplanarity in integrated circuit packages |
| CN107566720B (en) * | 2017-08-25 | 2019-09-27 | 维沃移动通信有限公司 | A kind of method and mobile terminal of the calibration value updating mobile terminal |
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| CN101836451A (en) * | 2007-10-18 | 2010-09-15 | 三洋电机株式会社 | Camera calibration device and method, and vehicle |
| CN108257182A (en) * | 2016-12-29 | 2018-07-06 | 深圳超多维光电子有限公司 | A kind of scaling method and device of three-dimensional camera module |
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