CN109559352A - Camera calibration method, device, electronic equipment and computer readable storage medium - Google Patents
Camera calibration method, device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN109559352A CN109559352A CN201811452669.9A CN201811452669A CN109559352A CN 109559352 A CN109559352 A CN 109559352A CN 201811452669 A CN201811452669 A CN 201811452669A CN 109559352 A CN109559352 A CN 109559352A
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- camera
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- calibrating parameters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
This application involves a kind of camera calibration method, device, electronic equipment and computer readable storage mediums.The described method includes: successively obtaining the different f-numbers of the first camera, three-dimensional scaling plate is shot with different f-numbers by the first camera, obtain the first uncalibrated image corresponding with each f-number, the first calibration processing is carried out to the first camera according to the first uncalibrated image, obtains the first camera corresponding first calibrating parameters under each f-number.Due to that can be shot with different f-numbers to three-dimensional scaling plate by camera, calibration processing is carried out according to the obtained corresponding uncalibrated image of each f-number, camera corresponding calibrating parameters under different f-numbers are obtained, camera calibration accuracy can be improved.
Description
Technical field
This application involves image technology fields, more particularly to a kind of camera calibration method, device, electronic equipment and meter
Calculation machine readable storage medium storing program for executing.
Background technique
With the development of image technology, more and more users shoot image by camera.Before camera factory,
It needs to demarcate camera to obtain camera parameter, so that camera can be restored according to the image of camera parameter acquisition
Object in three-dimensional space.In image acquisition process, user can select different shooting conditions according to the difference of photographed scene,
However, shooting condition different in conventional method can impact picture centre, image definition etc., there are camera calibrations
The low problem of accuracy.
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, comprising:
The different f-numbers for successively obtaining the first camera, by first camera with different f-numbers to three
Dimension scaling board is shot, and the first uncalibrated image corresponding with each f-number is obtained；
The first calibration processing is carried out to first camera according to first uncalibrated image, obtains first camera shooting
Head corresponding first calibrating parameters under each f-number.
A kind of camera calibration device, comprising:
Image taking module passes through first camera for successively obtaining the different f-numbers of the first camera
Three-dimensional scaling plate is shot with different f-numbers, obtains the first uncalibrated image corresponding with each f-number；
Processing module is demarcated, for carrying out at the first calibration according to first uncalibrated image to first camera
Reason, obtains first camera corresponding first calibrating parameters under each f-number.
A kind of electronic equipment, including memory and processor store computer program, the calculating in the memory
When machine program is executed by the processor, so that the processor executes following steps:
The different f-numbers for successively obtaining the first camera, by first camera with different f-numbers to three
Dimension scaling board is shot, and the first uncalibrated image corresponding with each f-number is obtained；
The first calibration processing is carried out to first camera according to first uncalibrated image, obtains first camera shooting
Head corresponding first calibrating parameters under each f-number.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row:
The different f-numbers for successively obtaining the first camera, by first camera with different f-numbers to three
Dimension scaling board is shot, and the first uncalibrated image corresponding with each f-number is obtained；
The first calibration processing is carried out to first camera according to first uncalibrated image, obtains first camera shooting
Head corresponding first calibrating parameters under each f-number.
Above-mentioned camera calibration method, device, electronic equipment and computer readable storage medium, by successively obtaining first
The different f-numbers of camera shoot three-dimensional scaling plate with different f-numbers by the first camera, obtain with
Corresponding first uncalibrated image of each f-number carries out the first calibration processing to the first camera according to the first uncalibrated image,
Obtain the first camera corresponding first calibrating parameters under each f-number.Due to can be by camera with different light
Circle value shoots three-dimensional scaling plate, carries out calibration processing according to the obtained corresponding uncalibrated image of each f-number, obtains
To camera under different f-numbers corresponding calibrating parameters, camera calibration accuracy can be improved.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the applied environment figure of camera calibration method in one embodiment；
Fig. 2 is the flow chart of camera calibration method in one embodiment；
Fig. 3 is the flow chart shot in one embodiment by the first camera；
Fig. 4 is the flow chart of camera calibration method in another embodiment；
Fig. 5 is the flow chart of camera calibration method in one embodiment；
Fig. 6 is the flow chart of camera calibration method in another embodiment；
Fig. 7 is the flow chart of camera calibration method in another embodiment；
Fig. 8 is the structural block diagram of camera calibration device in one embodiment；
Fig. 9 is the internal structure block diagram of electronic equipment in one embodiment；
Figure 10 is the schematic diagram of image processing circuit 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, and
It is not used in restriction the application.
It is appreciated that term " first " used in this application, " second " etc. can be used to describe various elements herein,
But these elements should not be limited by these terms.These terms are only used to distinguish the first element from the other element.Citing comes
It says, in the case where not departing from scope of the present application, the first camera can be known as second camera, and similarly, can incite somebody to action
Second camera is known as the first camera.First camera and second camera both camera, but it is not same takes the photograph
As head.
Fig. 1 is the application environment schematic diagram of camera calibration method in one embodiment.As shown in Figure 1, the application environment
Including electronic equipment 110 and three-dimensional scaling plate 120.It may include at least three calibration on three-dimensional scaling plate (chart plate) 120
Face, each calibration face have chart image.Electronic equipment 110 can successively obtain the different apertures of the first camera
Value, shoots three-dimensional scaling plate 120 with different f-numbers by the first camera, obtains corresponding with each f-number
The first uncalibrated image, calibration processing is carried out to the first camera according to the first uncalibrated image, obtains the first camera each
Corresponding first calibrating parameters under a f-number.Wherein, the image that the first calibrating parameters are used to acquire the first camera carries out
Correction.
Fig. 2 is the flow chart of camera calibration method in one embodiment.Camera calibration method in the present embodiment, with
It is described for running on the electronic equipment in Fig. 1.As shown in Fig. 2, camera calibration method includes step 202 to step
204。
Step 202, the different f-numbers for successively obtaining the first camera, by the first camera with different f-numbers
Three-dimensional scaling plate is shot, the first uncalibrated image corresponding with each f-number is obtained.
First camera can be front camera, be also possible to rear camera.First camera can also be electronics
One of them in multiple cameras that equipment includes.Specifically, the first camera is that different f-numbers can be used to be clapped
The camera taken the photograph.F-number is the focal length of camera and the relative value of light passing diameter.The aperture of camera is for controlling light
The device of the light quantity of photosurface in into camera can express the size of aperture by f-number.F-number is bigger, then leads to
Light diameter, that is, aperture is smaller, unit time light-inletting quantity is smaller；Opposite, f-number is smaller, then light passing diameter, that is, aperture it is bigger,
The light-inletting quantity of unit time is bigger.First camera is that have multiple f-numbers, so as to be carried out using different f-numbers
The camera of shooting.Three-dimensional scaling plate refers to the solid figure with constant spacing pattern matrix.Specifically, three-dimensional scaling plate can
To include at least three calibration faces.When electronic equipment carries out calibration processing to the first camera, need at least three or more no
Same calibration picture, therefore, electronic equipment can clap three-dimensional scaling plate with different f-numbers by the first camera
It takes the photograph, to obtain the first uncalibrated image corresponding with each f-number, three different calibration is contained in the first uncalibrated image
Figure.
Electronic equipment can successively obtain the different f-numbers of the first camera, by the first camera with different light
Circle value shoots three-dimensional scaling plate, obtains the first uncalibrated image corresponding with each f-number.
Step 204, the first calibration processing is carried out to the first camera according to the first uncalibrated image, obtains the first camera and exists
Corresponding first calibrating parameters under each f-number.
Calibration processing refers to the operation that the parameter in geometrical model to camera imaging is solved, by camera at
The geometrical model of picture can make the object in the image restoring space of shooting.First calibration processing, which refers to, carries out the first camera
Demarcate the operation of processing.Calibrating parameters, which refer to, carries out the camera parameter obtained after calibration processing, camera parameter to camera
It can be used for being corrected the image that camera acquires, so that the image after correction be allow to restore the object in space.Tool
Body, calibrating parameters may include internal reference, outer ginseng, distortion factor etc..First calibrating parameters are the corresponding mark of the first camera
Determine parameter.
Electronic equipment carries out the first calibration processing, specifically, electronic equipment to the first camera according to the first uncalibrated image
Traditional camera standardization, camera self-calibrating method can be used, between traditional scaling method and self-calibrating method
Zhang Zhengyou scaling method etc. carries out calibration processing to the first camera, obtains corresponding first calibrating parameters of the first camera.Example
Such as, it is acquired in image when electronic equipment passes through the first camera of acquisition with different f-numbers, the first f-number corresponding first
Uncalibrated image is the first uncalibrated image A, and corresponding first uncalibrated image of the second f-number is the first uncalibrated image B, then electronics is set
It is standby to handle to obtain the first camera corresponding first under the first f-number according to the first uncalibrated image A the first calibration of progress
Calibrating parameters, according to the first uncalibrated image B carry out the first calibration handle to obtain the first camera it is corresponding under the second f-number
First calibrating parameters；To which in actual application, the f-number that electronic equipment can be used according to the first camera selects
Corresponding first calibrating parameters handle image.
In the embodiment of the present application, by successively obtaining the different f-numbers of the first camera, by the first camera with
Different f-numbers shoots three-dimensional scaling plate, obtains the first uncalibrated image corresponding with each f-number, according to
One uncalibrated image carries out calibration processing to the first camera, obtains the first camera corresponding first mark under each f-number
Determine parameter, avoids the camera with multiple f-numbers from only doing primary calibration processing, improve the accuracy of camera calibration.Into
And in the use process of the first camera, corresponding first calibrating parameters can be obtained according to used f-number to figure
As being handled, the accuracy of image procossing can be improved.
As shown in figure 3, in one embodiment, successively obtaining the first camera not in the camera calibration method provided
With f-number, with the process that different f-numbers shoots three-dimensional scaling plate may include step by the first camera
302 to step 306, in which:
Step 302, the minimum aperture value and lens speed of the first camera are obtained.
The f-number of first camera usually has corresponding adjusting range.Minimum aperture value refers to the first camera light passing
F-number when diameter maximum；Lens speed refers to f-number when the first camera light passing diameter minimum.Electronic equipment can
To obtain the minimum aperture value and lens speed of the first camera.
Step 304, target f-number is determined according to minimum aperture value and lens speed.
Target f-number refers to the corresponding f-number of uncalibrated image for carrying out calibration processing to camera.Electronic equipment
Target f-number is determined according to minimum aperture value and lens speed, and specifically, electronic equipment can be from minimum aperture value, often
A f-number is obtained as target f-number every default aperture difference；Electronic equipment can also from minimum aperture value, every
Preset quantity f-number then obtains a f-number as target f-number；Electronic equipment can also be straight according to default f-number
It obtains and f-number identical with default f-number in minimum aperture value and lens speed is taken to be not limited to as target f-number etc.
This, wherein default aperture difference, preset quantity, default f-number can be set according to practical application request, herein not
It limits.For example, when default aperture difference is 3, when the minimum aperture value of the first camera is 3, lens speed is 9, electronics
Equipment can be 3 to obtain a f-numbers as target f-number every default aperture difference from minimum aperture value 3, then mesh
Marking f-number is 3,6,9.
Step 306, three-dimensional scaling plate is shot with different target f-numbers by the first camera.
After electronic equipment determines target f-number according to minimum aperture value and lens speed, available first camera
Target f-number, three-dimensional scaling plate is shot with different target f-numbers by the first camera, first is obtained and takes the photograph
As corresponding first uncalibrated image of each target aperture of head.
By obtaining the minimum aperture value and lens speed of the first camera, according to minimum aperture value and lens speed
It determines target f-number, three-dimensional scaling plate is shot with different target f-numbers by the first camera, so as to
Corresponding first uncalibrated image of each target f-number of the first camera is obtained, calibration processing is carried out to the first camera,
The shooting that each f-number in the first camera carries out uncalibrated image is avoided, uncalibrated image acquisition and calibration can be improved
The efficiency of processing.
In one embodiment, electronic equipment by the first camera with different target f-numbers to three-dimensional scaling plate into
When row shooting, electronic equipment can also obtain shooting focus corresponding with three-dimensional scaling plate, under different target f-numbers, lead to
It crosses the first camera to focus to shooting focus, first uncalibrated image is acquired according to target f-number to defocused.
Shooting focus, which refers to, is imaged clearest point in the image of shooting.Electronic equipment is available with three-dimensional scaling plate pair
The shooting focus answered, to be carried out that three-dimensional can be clearly indicated in the uncalibrated image of shooting to defocused according to the shooting focus
The pattern of scaling board.Focusing refers to by adjusting imaging device in electronic equipment at a distance from shooting focus, makes subject
The process of imaging clearly.Electronic equipment focuses to shooting focus, specifically, can be focused using laser focusing, phase, is anti-
The modes such as difference focusing are focused, and focusing mode is without being limited thereto.In one embodiment, the first camera passes through auto-focusing
Mode carries out focusing process to the shooting focus, uses the identical time for exposure with different target f-numbers to three-dimensional to defocused
Scaling board is shot, and the first uncalibrated image is obtained.It thereby may be ensured that and obtain corresponding first calibration maps of each f-number
The focus of picture, time for exposure are identical, and the accuracy of uncalibrated image can be improved.
As shown in figure 4, in one embodiment, the camera calibration method provided can also be including step 402 to step
406.Wherein:
Step 402, when acquiring initial pictures by the first camera, the acquisition f-number of the first camera is obtained.
Initial pictures refer to the acquisition of the first camera, are not corrected the image of processing by calibrating parameters.Acquire light
Circle value is the corresponding f-number of initial pictures.Electronic equipment obtains first when acquiring initial pictures by the first camera
The acquisition f-number of camera；Electronic equipment can also directly acquire the corresponding acquisition f-number of initial pictures.
In one embodiment, electronic equipment can also be obtained and be initiated when acquiring initial pictures by the first camera
The destination application for acquiring the acquisition instructions of initial pictures, when judging that the destination application belongs to first kind application program
When, obtain the acquisition f-number of the first camera.
Application program refers to the computer program that can complete particular job.Specifically, application program has calling camera shooting
Head acquires the function of image.For example, Instagram can be adopted by camera collection image, wechat by camera
Collecting image or scanning the two-dimensional code image, the application of payment class or screen locking application can be identified by camera acquisition facial image
Etc. without being limited thereto.Acquisition instructions can be user by click display screen on button generate, be also possible to user by by
What the control on pressure touch screen generated etc., electronic equipment obtains initiation acquisition when acquiring initial pictures by the first camera
The destination application of the acquisition instructions of initial pictures.Electronic equipment can classify to application program, and specifically, electronics is set
It is standby to be classified according to the requirement etc. of requirement, image processing speed to imaging accuracy to application program.The first kind is answered
It can be or image processing speed more demanding to imaging accuracy with program and require lower application program.Electronic equipment can be with
When getting the corresponding destination application of acquisition instructions, judge whether the destination application belongs to first kind application journey
Sequence obtains the acquisition f-number of the first camera when the destination application belongs to first kind application program.
Step 404, according to acquisition f-number from the first camera corresponding first calibrating parameters under each f-number
It is middle to obtain corresponding first object calibrating parameters.
Electronic equipment carries out at the first calibration the first camera according to corresponding first uncalibrated image of each f-number
Reason, obtains the first camera corresponding first calibrating parameters under each f-number, then electronic equipment can be according to acquisition light
Circle value obtains corresponding first object calibrating parameters from corresponding first calibrating parameters of each f-number.In one embodiment
In, when not the first calibrating parameters corresponding with acquisition f-number, electronic equipment is available closest with acquisition f-number
Corresponding first calibrating parameters of f-number as first object calibrating parameters.
Step 406, processing is corrected to initial pictures according to first object calibrating parameters, the target figure exported
Picture.
Electronic equipment is corrected processing to initial pictures according to first object calibrating parameters, and specifically, electronic equipment can
To be corrected processing to initial pictures according to the internal reference of the first camera, outer ginseng or distortion factor etc. in the first calibrating parameters,
The target image obtained after being handled.
Acquisition f-number when acquiring initial pictures by obtaining the first camera obtains corresponding according to acquisition f-number
First object calibrating parameters are corrected processing to initial pictures and obtain target image, and the accuracy of target image can be improved,
When avoiding handling initial pictures using unified calibrating parameters, the clarity etc. of image is impacted, figure is optimized
The treatment effect of picture.
In one embodiment, the camera calibration method provided can also include: to work as to judge that destination application belongs to
When the second class application program, preset second target designation parameter is obtained, and according to the second target designation parameter to initial pictures
It is corrected processing, the target image exported.
Camera usually has a default f-number in practical application, and when just opening camera, camera is by being somebody's turn to do
F-number is defaulted to acquire image.Preset second target designation parameter is calibrating parameters corresponding with default f-number.Electronics
Equipment can will be classified as the second class application program according to default f-number to acquire the application program of image.Electronic equipment can also be with
The application program lower or more demanding to image processing speed to image procossing accuracy requirement is classified as the second class application journey
Sequence.When judging that destination application belongs to first kind application program, electronic equipment obtains corresponding first mesh of acquisition f-number
Calibrating parameters are marked, processing is corrected to initial pictures according to first object calibrating parameters；When judging that destination application belongs to
When the second class application program, electronic equipment is corrected processing to initial pictures according to preset second target designation parameter, defeated
The target image obtained out.
Electronic equipment judges the classification of destination application according to the destination application for initiating acquisition instructions, to obtain
Corresponding calibrating parameters are corrected processing to initial pictures, when destination application belongs to the second class application program, directly
Initial pictures are handled using preset second target designation parameter, image processing efficiency can be improved.
As shown in figure 5, in one embodiment, the camera calibration method provided can also include to second camera into
The fixed process of rower, specifically includes:
Step 502, after the f-number for obtaining the first camera each time, by second camera to three-dimensional scaling plate into
Row shooting, obtains corresponding second uncalibrated image of second camera.
Second camera can form dual camera with the first camera.Second camera can be colour imagery shot, black
White camera, focal length camera or depth camera head etc., it is without being limited thereto.Electronic equipment can obtain each time the first camera
F-number after, three-dimensional scaling plate is shot by second camera, specifically, electronic equipment can simultaneously pass through first
Camera and second camera shoot three-dimensional scaling plate, so that it is corresponding to obtain the first camera under each f-number
First uncalibrated image and corresponding second uncalibrated image of second camera.
Step 504, the second calibration processing is carried out to second camera according to the second uncalibrated image, obtains second camera and exists
Corresponding second calibrating parameters under each f-number.
Second calibrating parameters are the corresponding calibrating parameters of second camera.Second calibrating parameters may include the second camera shooting
Internal reference, outer ginseng, the distortion factor etc. of head.Electronic equipment can be according to corresponding second uncalibrated image of each f-number to second
Camera carries out the second calibration processing, obtains second camera corresponding second calibrating parameters under each f-number.
As shown in fig. 6, in one embodiment, the camera calibration method provided can also be including step 602 to step
606.Wherein:
Step 602, after the f-number for obtaining the first camera each time, by second camera to three-dimensional scaling plate into
Row shooting, obtains corresponding second uncalibrated image of second camera.
Step 604, the second calibration processing is carried out to second camera according to the second uncalibrated image, obtains second camera and exists
Corresponding second calibrating parameters under each f-number.
Step 606, relative Calibration parameter is calculated according to the first calibrating parameters and the second calibrating parameters, wherein relative Calibration
Parameter is used to indicate the relative distance between the first camera and second camera.
Relative Calibration parameter is intended to indicate that the parameter of the relative distance between the first camera and second camera.Specifically
Ground, relative Calibration parameter can be the outer ginseng value between the first camera and second camera.Relative Calibration parameter includes first
Spin matrix and translation matrix between camera and second camera.Electronic equipment is joined according to the first calibrating parameters and the second calibration
Number calculates relative Calibration parameters, and specifically, electronic equipment can be according in corresponding first calibrating parameters of each f-number the
The corresponding internal reference of second camera and outer ginseng calculate relative Calibration ginseng in the internal reference of one camera and outer ginseng and the second calibrating parameters
Number.By calculating relative Calibration parameter according to the first calibrating parameters and the second calibrating parameters, electronic equipment it is available each
The accuracy of dual camera calibration can be improved in the corresponding relative Calibration parameter of f-number.In turn, in the first camera and second
In the use process of camera, the acquisition f-number that electronic equipment can be used according to the first camera obtains corresponding first mesh
Figure can be improved to handle image in mark calibrating parameters, the second target designation parameter and target relative Calibration parameter
As the accuracy of processing.
It is illustrated in figure 7 the flow chart of camera calibration method in one embodiment.With two apertures of the first camera
It is illustrated for value (first object f-number and the second target f-number), which includes:
Step 702, the screening-mode of the first camera and second camera is set as auto-focusing and fixed time for exposure.
Step 704, it while by the first camera and second camera with first object aperture is shot.Electronic equipment
The first object f-number of the first camera is obtained, while by the first camera and second camera with first object f-number
Three-dimensional scaling plate is shot.
Step 706, it while by the first camera and second camera with the second target f-number is shot.Electronics is set
Standby the second target f-number for obtaining the first camera, while by the first camera and second camera with the second target aperture
Value shoots three-dimensional scaling plate.
Step 708, the uncalibrated image for obtaining the shooting of first object f-number carries out calibration processing.Electronic equipment obtains first
Corresponding first uncalibrated image of first camera and corresponding second uncalibrated image of second camera under target f-number, according to
First uncalibrated image calculates the first calibrating parameters of the first camera under first object f-number, and according to the second uncalibrated image meter
The second calibrating parameters of second camera under first object f-number are calculated, and then according to the first calibrating parameters and the second calibrating parameters
Calculate the relative Calibration parameter of the first camera and second camera under first object f-number.
Step 710, the uncalibrated image for obtaining the shooting of the second target f-number carries out calibration processing.Electronic equipment obtains second
Corresponding first uncalibrated image of first camera and corresponding second uncalibrated image of second camera under target f-number, according to
First uncalibrated image calculates the first calibrating parameters of the first camera under the second target f-number, and according to the second uncalibrated image meter
The second calibrating parameters of second camera under the second target f-number are calculated, and then according to the first calibrating parameters and the second calibrating parameters
Calculate the relative Calibration parameter of the first camera and second camera under the second target f-number.
Step 712, the corresponding calibrating parameters of each f-number are saved.Electronic equipment is by first object f-number and second
Corresponding first calibrating parameters of target f-number, the second calibrating parameters and relative Calibration parameter are saved.
Three-dimensional scaling plate is shot simultaneously with different target f-numbers from second camera by the first camera,
Corresponding first uncalibrated image of the first camera under each f-number and corresponding second uncalibrated image of second camera are obtained,
To carry out calibration processing to the first camera and second camera according to the first uncalibrated image and the second uncalibrated image, obtain every
Dual camera calibration can be improved in corresponding first calibrating parameters of one f-number, the second calibrating parameters and relative Calibration parameter
Accuracy.
It should be understood that although each step in the flow chart of Fig. 2-7 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. 2-7
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.
Fig. 8 is the structural block diagram of the camera calibration device of one embodiment.As shown in figure 8, the camera calibration device
Including image taking module 802, calibration processing module 804, in which:
Image taking module 802, for successively obtaining the different f-numbers of the first camera, by the first camera with
Different f-numbers shoots three-dimensional scaling plate, obtains the first uncalibrated image corresponding with each f-number；
Processing module 804 is demarcated, for carrying out the first calibration processing to the first camera according to the first uncalibrated image, is obtained
First camera corresponding first calibrating parameters under each f-number.
Camera calibration device provided by the embodiments of the present application, for successively obtaining the different apertures of the first camera
Value, shoots three-dimensional scaling plate with different f-numbers by the first camera, obtains corresponding with each f-number
First uncalibrated image carries out the first calibration processing to the first camera according to the first uncalibrated image, obtains the first camera every
Corresponding first calibrating parameters, can be improved the accuracy of camera calibration under one f-number.
In one embodiment, image taking module 802 can be also used for obtain the first camera minimum aperture value and
Lens speed；Target f-number is determined according to minimum aperture value and lens speed；By the first camera with different mesh
Mark f-number shoots three-dimensional scaling plate.
In one embodiment, image taking module 802 can be also used for obtaining shooting coke corresponding with three-dimensional scaling plate
Point；Under different target f-numbers, focused by the first camera to shooting focus, to defocused according to target f-number
Acquire the first uncalibrated image.
In one embodiment, the camera calibration device provided can also include image processing module 806, image procossing
Module 806 is used to obtain the acquisition f-number of the first camera when acquiring initial pictures by the first camera；According to acquisition
F-number obtains corresponding first object calibration from the first camera under each f-number in corresponding first calibrating parameters
Parameter；Processing is corrected to initial pictures according to first object calibrating parameters, the target image exported.
In one embodiment, image processing module 806 can be also used for acquiring initial pictures by the first camera
When, obtain the destination application for initiating the acquisition instructions of acquisition initial pictures；When judging that destination application belongs to the first kind
When application program, the acquisition f-number of the first camera is obtained；According to acquisition f-number from the first camera in each aperture
Corresponding first object calibrating parameters are obtained under value in corresponding first calibrating parameters；According to first object calibrating parameters to initial
Image is corrected processing, the target image exported.
In one embodiment, image processing module 806, which can be also used for working as, judges that destination application belongs to the second class
When application program, preset second target designation parameter is obtained, and school is carried out to initial pictures according to the second target designation parameter
Positive processing, the target image exported.
In one embodiment, calibration processing module 804 can be also used in the aperture for obtaining the first camera each time
After value, three-dimensional scaling plate is shot by second camera, obtains corresponding second uncalibrated image of second camera；According to
Second uncalibrated image carries out the second calibration processing to second camera, and it is corresponding under each f-number to obtain second camera
Second calibrating parameters.
In one embodiment, calibration processing module 804 can be also used for according to the first calibrating parameters and the second calibration ginseng
Number calculates relative Calibration parameter, wherein relative Calibration parameter is for indicating opposite between the first camera and second camera
Distance.
The division of modules is only used for for example, in other embodiments, can incite somebody to action in above-mentioned camera calibration device
Camera calibration device is divided into different modules as required, to complete all or part of function of above-mentioned camera calibration device
Energy.
Fig. 9 is the schematic diagram of internal structure of electronic equipment in one embodiment.As shown in figure 8, the electronic equipment includes logical
Cross the processor and memory of system bus connection.Electronic equipment further include one or more cameras wherein, the processor use
In providing calculating and control ability, the operation of entire electronic equipment is supported.Memory may include non-volatile memory medium and interior
Memory.Non-volatile memory medium is stored with operating system and computer program.The computer program can be held by processor
Row, for realizing a kind of camera calibration method provided by following each embodiment.Built-in storage is non-volatile memories
Operating system computer program in medium provides the running environment of cache.The electronic equipment can be mobile phone, plate electricity
Brain or personal digital assistant or wearable device etc..
Realizing for the modules in camera calibration device provided in the embodiment of the present application can be computer program
Form.The computer program can be run in terminal or server.The program module that the computer program is constituted is storable in end
On the memory of end or server.When the computer program is executed by processor, method described in the embodiment of the present application is realized
The step of.
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.Figure 10 is the schematic diagram of image processing circuit in one embodiment.Such as Figure 10 institute
Show, for purposes of illustration only, only showing the various aspects of image processing techniques relevant to the embodiment of the present application.
As shown in Figure 10, image processing circuit includes ISP processor 1040 and control logic device 1050.Imaging device 1010
The image data of capture is handled by ISP processor 1040 first, and ISP processor 1040 analyzes image data can with capture
Image statistics for determining and/or imaging device 1010 one or more control parameters.Imaging device 1010 can wrap
Include the camera with one or more lens 1012 and imaging sensor 1014.Imaging sensor 1014 may include colour filter
Array (such as Bayer filter), imaging sensor 1014 can obtain the light captured with each imaging pixel of imaging sensor 1014
Intensity and wavelength information, and the one group of raw image data that can be handled by ISP processor 1040 is provided.1020 (such as top of sensor
Spiral shell instrument) parameter (such as stabilization parameter) of the image procossing of acquisition can be supplied to ISP processing based on 1020 interface type of sensor
Device 1040.1020 interface of sensor can use SMIA, and (Standard Mobile Imaging Architecture, standard are moved
Dynamic Imager Architecture) interface, other serial or parallel camera interfaces or above-mentioned interface combination.
In addition, raw image data can also be sent to sensor 1020 by imaging sensor 1014, sensor 1020 can base
Raw image data is supplied to ISP processor 1040 or sensor 1020 for original graph in 1020 interface type of sensor
As data storage is into video memory 1030.
ISP processor 1040 handles raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processor 1040 can carry out raw image data at one or more images
Reason operation, statistical information of the collection about image data.Wherein, image processing operations can be by identical or different bit depth precision
It carries out.
ISP processor 1040 can also receive image data from video memory 1030.For example, 1020 interface of sensor will be former
Beginning image data is sent to video memory 1030, and the raw image data in video memory 1030 is available to ISP processing
Device 1040 is for processing.Video memory 1030 can be only in a part, storage equipment or electronic equipment of memory device
Vertical private memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
1014 interface of imaging sensor is come from or from 1020 interface of sensor or from video memory when receiving
When 1030 raw image data, ISP processor 1040 can carry out one or more image processing operations, such as time-domain filtering.Place
Image data after reason can be transmitted to video memory 1030, to carry out other processing before shown.ISP processor
1040 from video memory 1030 receive processing data, and to the processing data progress original domain in and RGB and YCbCr face
Image real time transfer in the colour space.Treated that image data may be output to display 1070 for ISP processor 1040, for
Family is watched and/or is further processed by graphics engine or GPU (Graphics Processing Unit, graphics processor).This
Outside, the output of ISP processor 1040 also can be transmitted to video memory 1030, and display 1070 can be from video memory 1030
Read image data.In one embodiment, video memory 1030 can be configured to realize one or more frame buffers.This
Outside, the output of ISP processor 1040 can be transmitted to encoder/decoder 1060, so as to encoding/decoding image data.Coding
Image data can be saved, and decompress before being shown in 1070 equipment of display.Encoder/decoder 1060 can be by
CPU or GPU or coprocessor are realized.
The statistical data that ISP processor 1040 determines, which can be transmitted, gives control logic device Unit 1050.For example, statistical data can
It is passed including the images such as automatic exposure, automatic white balance, automatic focusing, flicker detection, black level compensation, 1012 shadow correction of lens
1014 statistical information of sensor.Control logic device 1050 may include execute one or more routines (such as firmware) processor and/or
Microcontroller, one or more routines can statistical data based on the received, determine at control parameter and the ISP of imaging device 1010
Manage the control parameter of device 1040.For example, the control parameter of imaging device 1010 may include that 1020 control parameter of sensor (such as increases
Benefit, the time of integration of spectrum assignment, stabilization parameter etc.), camera flash control parameter, 1012 control parameter of lens it is (such as poly-
Burnt or zoom focal length) or these parameters combination.ISP control parameter may include for automatic white balance and color adjustment (example
Such as, RGB processing during) 1012 shadow correction parameter of gain level and color correction matrix and lens.
Above-mentioned camera calibration method can be realized with image processing techniques in Figure 10 in the embodiment of the present application.Such as Figure 10 institute
The image processing circuit shown may include one or more imaging devices.
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 camera calibration method.
A kind of computer program product comprising instruction, when run on a computer, so that computer executes camera shooting
Head scaling method.
It may include non-to any reference of memory, storage, database or other media used in the embodiment of the present application
Volatibility and/or volatile memory.Suitable nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable 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 in a variety of forms may be used
, 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) direct RAM
(RDRAM), direct 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 characterized by comprising
The different f-numbers for successively obtaining the first camera mark three-dimensional with different f-numbers by first camera
Fixed board is shot, and the first uncalibrated image corresponding with each f-number is obtained；
The first calibration processing is carried out to first camera according to first uncalibrated image, first camera is obtained and exists
Corresponding first calibrating parameters under each f-number.
2. the method according to claim 1, wherein the different apertures for successively obtaining the first camera
Value, shoots three-dimensional scaling plate with different f-numbers by first camera, further includes:
Obtain the minimum aperture value and lens speed of first camera；
Target f-number is determined according to the minimum aperture value and lens speed；
The three-dimensional scaling plate is shot with different target f-numbers by first camera.
3. according to the method described in claim 2, it is characterized in that, it is described by first camera with different target lights
Circle value shoots the three-dimensional scaling plate, comprising:
Obtain shooting focus corresponding with the three-dimensional scaling plate；
Under different target f-numbers, focused by first camera to the shooting focus, to defocused basis
The target f-number acquires first uncalibrated image.
4. the method according to claim 1, wherein the method also includes:
When acquiring initial pictures by first camera, the acquisition f-number of first camera is obtained；
It is obtained in corresponding first calibrating parameters under each f-number according to the acquisition f-number from first camera
Take corresponding first object calibrating parameters；
Processing is corrected to the initial pictures according to the first object calibrating parameters, the target image exported.
5. according to the method described in claim 4, it is characterized in that, described acquiring initial pictures by first camera
When, obtain the acquisition f-number of first camera, comprising:
When acquiring initial pictures by first camera, the mesh for initiating to acquire the acquisition instructions of the initial pictures is obtained
Mark application program；
When judging that the destination application belongs to first kind application program, the acquisition light of first camera is obtained
Circle value；
The method also includes:
When judging that the destination application belongs to the second class application program, preset second target designation parameter is obtained, and
Processing is corrected to the initial pictures according to the second target designation parameter, the target image exported.
6. the method according to claim 1, wherein the method also includes:
After the f-number for obtaining first camera every time, the three-dimensional scaling plate is clapped by second camera
It takes the photograph, obtains corresponding second uncalibrated image of the second camera；
The second calibration processing is carried out to the second camera according to second uncalibrated image, the second camera is obtained and exists
Corresponding second calibrating parameters under each f-number.
7. according to the method described in claim 6, it is characterized in that, the method also includes:
Relative Calibration parameter is calculated according to first calibrating parameters and second calibrating parameters, wherein the relative Calibration
Parameter is used to indicate the relative distance between the first camera and second camera.
8. a kind of camera calibration device characterized by comprising
Image taking module, for successively obtaining the different f-numbers of the first camera, by first camera with not
Same f-number shoots three-dimensional scaling plate, obtains the first uncalibrated image corresponding with each f-number；
Processing module is demarcated, for carrying out the first calibration processing to first camera according to first uncalibrated image, is obtained
To first camera under each f-number corresponding first calibrating parameters.
9. a kind of electronic equipment, including camera, memory and processor, computer program is stored in the memory, institute
When stating computer program and being executed by the processor, so that the processor is executed as described in any one of claims 1 to 6
The step of camera calibration method and camera calibration method as claimed in claim 7.
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 as described in any one of claims 1 to 7 is realized when being executed by processor.
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