CN110177222A - A kind of the camera exposure parameter method of adjustment and device of the unused resource of combination vehicle device - Google Patents
A kind of the camera exposure parameter method of adjustment and device of the unused resource of combination vehicle device Download PDFInfo
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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
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Abstract
The present invention provides the camera exposure parameter methods of adjustment and device of a kind of unused resource of combination vehicle device, this method comprises: real-time or interval preset time obtains each not used resource parameters of hardware device in vehicle device, to obtain the current unused resource parameters of the vehicle device；Judge whether the unused resource state parameter meets the preset condition that the vehicle device runs specified illuminance detection algorithm；If the unused resource state parameter meets the preset condition, the illuminance detection algorithm, the exposure parameter of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment are run in the vehicle device.Scheme provided by the invention provides auxiliary when illuminance detects using vehicle device incative money, according to the corresponding relationship between the gray scale and illuminance of image, training machine Study strategies and methods convert the statistical result of picture gray scale to the detection information of illuminance, to promote camera output data quality.
Description
Technical field
The present invention relates to automobile technical fields, more particularly to a kind of camera exposure parameter of unused resource of combination vehicle device
Method of adjustment and device.
Background technique
Currently, the fields such as drive in automatic Pilot and auxiliary, and in automatic parking or active safety function, Duo Huiyong
Assist in identifying surrounding enviroment information to algorithm of target detection, and general algorithm of target detection then generally by machine learning or
Person's deep learning is realized.But in some cases, since cost is limited, picture quality can be often sacrificed to meet vision
The accuracy and speed of algorithm is unable to get and is effectively ensured so as to cause the result of final vision-based detection.
Summary of the invention
The present invention provides a kind of camera exposure parameter methods of adjustment of unused resource of combination vehicle device and device to overcome
The above problem at least is partially solved the above problem.
According to an aspect of the invention, there is provided a kind of camera exposure parameter adjustment side of the unused resource of combination vehicle device
Method, comprising:
In real time or interval preset time obtains each not used resource parameters of hardware device in vehicle device, to obtain the vehicle device
Current unused resource parameters；
Judge whether the unused resource state parameter meets the vehicle device and run the default of specified illuminance detection algorithm
Condition；
If the unused resource state parameter meets the preset condition, the illuminance inspection is run in the vehicle device
Method of determining and calculating, the exposure parameter of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment.
Optionally, described that the illuminance detection algorithm is run in the vehicle device, the affiliated vehicle of vehicle device described in auxiliary adjustment
The exposure parameter of one or more cameras on, comprising:
The one or more cameras obtained on the affiliated vehicle of the vehicle device are input to preset image signal processing unit
Image data；
The illuminance parameter of illuminance detection algorithm identification described image data is run in the vehicle device；
Exposure parameter by described image signal processing unit according to camera described in the illuminance parameter regulation.
Optionally, it is described by described image signal processing unit according to camera described in the illuminance parameter regulation
Before exposure parameter, further includes:
Collect multiple image datas for having different and identical illuminance；
Identify the grey parameter and illuminance parameter of every image data in multiple described image datas；
The the outputting and inputting as default classifier using the grey parameter and illuminance parameter, and based on described more
It opens and presets classifier described in the grey parameter and illuminance parameter training of image data.
Optionally, the illuminance ginseng that illuminance detection algorithm identification described image data are run in the vehicle device
Number, comprising:
The grey parameter that illuminance detection algorithm obtains described image data is run in the vehicle device, passes through default classification
The grey parameter is converted to the illuminance parameter of described image data by device.
According to another aspect of the present invention, a kind of camera exposure parameter adjustment of unused resource of combination vehicle device is additionally provided
Device, comprising:
It checks module, is configured in real time or interval preset time obtains each not used resource ginseng of hardware device in vehicle device
Number, to obtain the current unused resource parameters of the vehicle device；
Judgment module is configured to judge whether the unused resource state parameter meets the vehicle device and run specified illuminance
The preset condition of detection algorithm；
Module is adjusted, is configured to when the unused resource state parameter meets the preset condition, in the vehicle device
Run the illuminance detection algorithm, the exposure ginseng of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment
Number.
Optionally, the adjustment module is additionally configured to:
The one or more cameras obtained on the affiliated vehicle of the vehicle device are input to preset image signal processing unit
Image data；
The illuminance parameter of illuminance detection algorithm identification described image data is run in the vehicle device；
Exposure parameter by described image signal processing unit according to camera described in the illuminance parameter regulation.
Optionally, the adjustment module is additionally configured to:
Passing through exposure parameter of the described image signal processing unit according to camera described in the illuminance parameter regulation
Before, multiple image datas for having different and identical illuminance are collected；
Identify the grey parameter and illuminance parameter of every image data in multiple described image datas；
The the outputting and inputting as default classifier using the grey parameter and illuminance parameter, and based on described more
It opens and presets classifier described in the grey parameter and illuminance parameter training of image data.
Optionally, the adjustment module is additionally configured to: being run illuminance detection algorithm in the vehicle device and is obtained the figure
As the grey parameter of data, the grey parameter is converted to the illuminance parameter of described image data by default classifier.
According to another aspect of the present invention, a kind of computer storage medium is additionally provided, the computer storage medium is deposited
Computer program code is contained, when the computer program code is run on the computing device, the calculating equipment is caused to be held
The camera exposure parameter method of adjustment of the row unused resource of combination vehicle device described in any of the above embodiments.
The present invention provides the camera exposure parameter methods of adjustment and device of a kind of unused resource of combination vehicle device, are checking
When meeting vehicle device to the unused resource of vehicle device and run the preset condition of specified illuminance detection algorithm, then run in vehicle device
The exposure parameter of one or more cameras on the affiliated vehicle of illuminance detection algorithm auxiliary adjustment vehicle device.The present invention
The method of offer provides auxiliary in image light luminance detection using vehicle device incative money.According between the gray scale and illuminance of image
Corresponding relationship, training machine Study strategies and methods convert the statistical result of picture gray scale to the detection information of illuminance, to mention
While rising camera output data quality, subsequent image signal processing unit is further promoted to the detection accuracy of image data
And detection efficiency.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is that the camera exposure parameter method of adjustment process of the unused resource of combination vehicle device according to an embodiment of the present invention is shown
It is intended to；
Fig. 2 is the camera exposure parameter method of adjustment stream of the unused resource of combination vehicle device according to the preferred embodiment of the invention
Journey schematic diagram；
The camera exposure parameter adjustment apparatus structure signal of Fig. 3 unused resource of combination vehicle device according to an embodiment of the present invention
Figure.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Fig. 1 is that the camera exposure parameter method of adjustment process of the unused resource of combination vehicle device according to an embodiment of the present invention is shown
It is intended to, referring to Fig. 1 it is found that the camera exposure parameter method of adjustment of the unused resource of combination vehicle device provided in an embodiment of the present invention can
To include:
Step S102, in real time or interval preset time obtains each not used resource parameters of hardware device in vehicle device, with
The unused resource parameters current to vehicle device；
Step S104, judges whether the unused resource state parameter meets vehicle device and run specified illuminance detection algorithm
Preset condition；
Step S106 runs illuminance if the unused resource state parameter meets the preset condition in vehicle device
Detection algorithm, the exposure parameter of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment.
The embodiment of the invention provides a kind of camera exposure parameter methods of adjustment of unused resource of combination vehicle device, are checking
When meeting vehicle device to the unused resource of vehicle device and run the preset condition of specified illuminance detection algorithm, then run in vehicle device
The exposure parameter of one or more cameras on the affiliated vehicle of illuminance detection algorithm auxiliary adjustment vehicle device.The present invention
The method that embodiment provides provides auxiliary in image light luminance detection using vehicle device incative money, to promote camera output data
While quality, subsequent image signal processing unit is further promoted to the detection accuracy and detection efficiency of image data.
Vehicle device in the present embodiment is a kind of (such as IHU, Infotainment Head Unit, Infotainment host),
In may be provided with multiple hardwares equipment to meet the different function of vehicle device.In above-mentioned steps S102, each hardware in vehicle device is set
Standby may include each hardware device that CPU, memory, network bandwidth, hard disk etc. are set in vehicle device.Obtaining the unused of vehicle device
When resource status parameter, can first it be checked with Fixed Time Interval, it can also be specific mainly to obtain with real-time perfoming inspection
Current network bandwidth, hard disk have used memory space and memory use state etc. in vehicle device, and then extrapolate present case
Under in the CPU processing capacity, memory, network bandwidth and the hard drive space that do not use etc. vehicle device each hardware device be currently not used
Resource parameters.
After getting the unused resource state parameter of vehicle device, the unused resource state parameter of vehicle device can be divided
Analysis, judges the resource parameters such as each hardware resource such as CPU processing capacity, memory size, network bandwidth, hard drive space in current vehicle device
Whether default primary condition that vehicle device run specified image light illumination detection algorithm is met.The default primary condition can be for not
Same requirement of real-time or required precision is configured the lower limit of the unused resources parameter of each hardware parameter, in residue
Certain value need to be greater than by depositing, and network bandwidth need to be greater than certain bandwidth etc., specific value can the different accuracy requirement of root be configured,
The present invention is without limitation.
It is referred in above-mentioned steps S106, after determining that vehicle device current state can run illuminance detection algorithm
Illuminance detection algorithm, the exposure ginseng of one or more cameras on the affiliated vehicle of auxiliary adjustment vehicle device are run in vehicle device
Number.In an alternate embodiment of the present invention, above-mentioned steps S106 can further comprise:
Step S106-1, the one or more cameras obtained on the affiliated vehicle of vehicle device are input at preset picture signal
Manage the image data of unit；
Step S106-2 runs the illuminance parameter of illuminance detection algorithm identification described image data in vehicle device；
Step S106-3, the exposure by image signal processing unit according to camera described in the illuminance parameter regulation
Parameter.
Image signal processing unit in the present embodiment can be carry out visual detection algorithm or other to image data into
The proprietary chip or processor of row processing.The data that the present embodiment is input to image signal processing unit by obtaining camera
It, can be as image signal processing unit based on detected by vehicle device after carrying out the related illuminance parameter of illuminance detection acquisition
The illuminance parameter regulation of image data corresponds to the exposure parameter of camera.
Optionally, the embodiment of the present invention can be divided when identifying the illuminance parameter of image data by what is constructed in advance
Class device is identified.It that is can also include: to collect multiple images for having different and identical illuminance before step S106-3
Data；Identify the grey parameter and illuminance parameter of every image data in multiple image datas；By the grey parameter and
Illuminance parameter is output and input respectively as default classifier, and grey parameter and illumination based on multiple image datas
It spends and presets classifier described in parameter training.The grey parameter can be preferably the average gray parameter of whole image data.
Further, above-mentioned steps S106-2 runs the light of illuminance detection algorithm identification described image data in vehicle device
Illumination parameter, comprising: run the grey parameter that illuminance detection algorithm obtains described image data in vehicle device, pass through default point
The grey parameter is converted to the illuminance parameter of described image data by class device.
The present embodiment can be in advance based on the image data that multiple have identical and different illuminance and carry out analysis and arrangement, with
The illuminance parameter of the corresponding grey parameter of each image data is obtained, and then respectively as the input data of default classifier
With output data with the training classifier, when needing to identify the illuminance parameter of any image data in practical applications, only
The default classifier of input identifies that whole process simply has after the grey parameter for obtaining the image data pair need to be calculated
Effect.Wherein, classifier can be is carried out based on SVM (support vector machines, Support Vector Machine) or decision tree etc.
Building, the embodiment of the present invention is by utilizing the unused resource of vehicle device, according to the corresponding relationship between the gray scale and illuminance of image, instruction
Practice Machine learning classifiers, convert the statistical result of picture gray scale to the detection information of illuminance, can guarantee image matter
Image detection efficiency is promoted while amount.
Fig. 2 shows the camera exposure parameter adjustment sides of the unused resource of combination vehicle device according to the preferred embodiment of the invention
Method flow diagram, referring to fig. 2 it is found that method provided in this embodiment may include:
Whether S1, the unused resource of engine end periodic detection vehicle device are enough, i.e., whether unused resource, which meets operation, executes illumination
Spend the preset condition of detection algorithm；If so, thening follow the steps S202；If it is not, then continuing to repeat to detect, between detecting twice
It can be judged according to the real-time that illuminance detects every the time, for example, illuminance detection can be in engine end every certain pre-
If the time (30 seconds or one minute, automatically adjusted according to speed, then preset time is short fastly for speed, and then preset time is long slowly for speed)
Operation is primary, or interval other times, and the present invention is without limitation.
S2 runs illuminance detection in vehicle device and calculates when judging that the unused resource state parameter of vehicle device meets preset condition
Method.
In the step, the object of illuminance detection algorithm is the image exported to camera into image signal processing unit
Data, it is assumed that any one frame or multiple image data are directed to, it, can be with when needing to carry out illuminance detection to the image data
The mode of wireless connection obtains the image data that camera is input to image signal processing unit, or by image signal process list
The image data that member is originally inputted is transmitted to engine end and carries out illuminance detection.
S3 can first analyze the ash of the image data when image data accessed by vehicle device executes illuminance detection algorithm
Parameter is spent, and then the grey parameter is input in the classifier constructed in advance, the light of the image data is exported by the classifier
Illumination parameter.
S4, based on the exposure parameter of camera being arranged on the illuminance parameter adaptation adjustment affiliated vehicle of vehicle device, with into one
Parameter camera adjusted is input to the image data in image signal processing unit again and carries out vision-based detection calculating by step
Processing.Specific adjustable range can be configured based on different demands and different scenes, and the present invention is without limitation.
In addition, in alternative embodiment of the present invention, for utilizing image signal processing unit to camera institute input data
During carrying out calculation processing, the unused resource that equally can use vehicle device carries out scene Recognition to image data, such as identifies
Weather, geographical location target detection thing etc., and then assist preset image signal processing unit is corresponding to choose different detections
Model is to carry out vision-based detection to the image data for being input to the image detecting element in real time.Wherein, vision-based detection can be needle
To the visual detection algorithm of automatic parking scene, such as the detection of parking stall line, moving Object Detection, pedestrian detection, static-obstacle thing (wheel
Shelves, ice cream bucket) etc. detection；It can also be the visual detection algorithm that safe forward sight camera is interacted for love, such as pedestrian and vehicle
Detection, lane detection, traffic lights and speed(-)limit sign detection etc..
In vehicle device operational process, the embodiment of the present invention can be taken the photograph the adjusting of illuminance testing result according to the unused resource of vehicle device
It is relatively low to runing time and requirement of real-time as head relevant parameter, and then achieve the effect that final detection accuracy is promoted.
Based on the same inventive concept, the embodiment of the invention also provides a kind of exposures of the camera of unused resource of combination vehicle device
Parameter adjustment controls, as shown in figure 3, the camera exposure parameter of the unused resource of combination vehicle device provided in an embodiment of the present invention adjusts
Device may include:
It checks module 310, is configured in real time or interval preset time obtains each not used resource of hardware device in vehicle device
Parameter, to obtain the current unused resource parameters of the vehicle device；
Judgment module 320 is configured to judge whether the unused resource state parameter meets the vehicle device and run specified light
The preset condition of luminance detection algorithm；
Module 330 is adjusted, is configured to when the unused resource state parameter meets the preset condition, in the vehicle device
It is interior to run the illuminance detection algorithm, the exposure ginseng of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment
Number.
Optionally, the adjustment module 330 is also configured as:
The one or more cameras obtained on the affiliated vehicle of the vehicle device are input to preset image signal processing unit
Image data；
The illuminance parameter of illuminance detection algorithm identification described image data is run in the vehicle device；
Exposure parameter by described image signal processing unit according to camera described in the illuminance parameter regulation.
Optionally, the adjustment module 330 is also configured as:
Passing through exposure parameter of the described image signal processing unit according to camera described in the illuminance parameter regulation
Before, multiple image datas for having different and identical illuminance are collected；
Identify the grey parameter and illuminance parameter of every image data in multiple described image datas；
The the outputting and inputting as default classifier using the grey parameter and illuminance parameter, and based on described more
It opens and presets classifier described in the grey parameter and illuminance parameter training of image data.
Optionally, the adjustment module 330 is also configured as: being run illuminance detection algorithm in the vehicle device and is obtained
The grey parameter is converted to the illuminance of described image data by default classifier by the grey parameter of described image data
Parameter.
Based on the same inventive concept, the embodiment of the invention also provides a kind of computer storage medium, the computer is deposited
Storage media is stored with computer program code, when the computer program code is run on the computing device, leads to the meter
Calculate the camera exposure parameter method of adjustment that equipment executes the unused resource of combination vehicle device described in any of the above-described embodiment.
The embodiment of the invention provides the camera exposure parameter method of adjustment and device of a kind of unused resource of combination vehicle device,
When the unused resource for checking vehicle device meets vehicle device and runs the preset condition of specified illuminance detection algorithm, then in vehicle device
The middle exposure parameter for running one or more cameras on the affiliated vehicle of illuminance detection algorithm auxiliary adjustment vehicle device.
Method provided in an embodiment of the present invention provides auxiliary in image light luminance detection using vehicle device incative money.According to the gray scale of image
The statistical result of picture gray scale is converted illuminance by corresponding relationship between illuminance, training machine Study strategies and methods
Detection information while to promote camera output data quality, further promotes subsequent image signal processing unit to image
The detection accuracy and detection efficiency of data.
It is apparent to those skilled in the art that the specific work of the system of foregoing description, device and unit
Make process, can refer to corresponding processes in the foregoing method embodiment, for brevity, does not repeat separately herein.
In addition, each functional unit in each embodiment of the present invention can be physically independent, can also two or
More than two functional units integrate, and can be all integrated in a processing unit with all functional units.It is above-mentioned integrated
Functional unit both can take the form of hardware realization, can also be realized in the form of software or firmware.
Those of ordinary skill in the art will appreciate that: if the integrated functional unit is realized and is made in the form of software
It is independent product when selling or using, can store in a computer readable storage medium.Based on this understanding,
Technical solution of the present invention is substantially or all or part of the technical solution can be embodied in the form of software products,
The computer software product is stored in a storage medium comprising some instructions, with so that calculating equipment (such as
Personal computer, server or network equipment etc.) various embodiments of the present invention the method is executed when running described instruction
All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM), random access memory
Device (RAM), the various media that can store program code such as magnetic or disk.
Alternatively, realizing that all or part of the steps of preceding method embodiment can be (all by the relevant hardware of program instruction
Such as personal computer, the calculating equipment of server or network equipment etc.) it completes, described program instruction can store in one
In computer-readable storage medium, when described program instruction is executed by the processor of calculating equipment, the calculating equipment is held
The all or part of the steps of row various embodiments of the present invention the method.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: at this
Within the spirit and principle of invention, it is still possible to modify the technical solutions described in the foregoing embodiments or right
Some or all of the technical features are equivalently replaced；And these are modified or replaceed, and do not make corresponding technical solution de-
From protection scope of the present invention.
Claims (9)
1. a kind of camera exposure parameter method of adjustment of the unused resource of combination vehicle device, comprising:
In real time or interval preset time obtains each not used resource parameters of hardware device in vehicle device, current to obtain the vehicle device
Unused resource parameters；
Judge whether the unused resource state parameter meets the preset condition that the vehicle device runs specified illuminance detection algorithm；
If the unused resource state parameter meets the preset condition, the illuminance detection is run in the vehicle device and is calculated
Method, the exposure parameter of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment.
It is described to run the illuminance detection algorithm in the vehicle device 2. according to the method described in claim 1, wherein, it is auxiliary
Help the exposure parameter for adjusting one or more cameras on the affiliated vehicle of vehicle device, comprising:
Obtain the figure that one or more cameras on the affiliated vehicle of the vehicle device are input to preset image signal processing unit
As data；
The illuminance parameter of illuminance detection algorithm identification described image data is run in the vehicle device；
Exposure parameter by described image signal processing unit according to camera described in the illuminance parameter regulation.
3. according to the method described in claim 2, wherein, it is described by described image signal processing unit according to the illuminance
Before the exposure parameter of camera described in parameter regulation, further includes:
Collect multiple image datas for having different and identical illuminance；
Identify the grey parameter and illuminance parameter of every image data in multiple described image datas；
The the outputting and inputting as default classifier using the grey parameter and illuminance parameter, and based on multiple described figures
Classifier is preset as described in the grey parameter and illuminance parameter training of data.
4. described to be run in the vehicle device described in the identification of illuminance detection algorithm according to the method described in claim 3, wherein
The illuminance parameter of image data, comprising:
The grey parameter that illuminance detection algorithm obtains described image data is run in the vehicle device, it will by default classifier
The grey parameter is converted to the illuminance parameter of described image data.
5. a kind of camera exposure parameter of unused resource of combination vehicle device adjusts device, comprising:
It checks module, is configured in real time or interval preset time obtains each not used resource parameters of hardware device in vehicle device, with
Obtain the current unused resource parameters of the vehicle device；
Judgment module is configured to judge whether the unused resource state parameter meets the vehicle device and run specified illuminance detection
The preset condition of algorithm；
Module is adjusted, is configured to run in the vehicle device when the unused resource state parameter meets the preset condition
The illuminance detection algorithm, the exposure parameter of one or more cameras on the affiliated vehicle of vehicle device described in auxiliary adjustment.
6. device according to claim 5, wherein the adjustment module is additionally configured to:
Obtain the figure that one or more cameras on the affiliated vehicle of the vehicle device are input to preset image signal processing unit
As data；
The illuminance parameter of illuminance detection algorithm identification described image data is run in the vehicle device；
Exposure parameter by described image signal processing unit according to camera described in the illuminance parameter regulation.
7. device according to claim 6, wherein the adjustment module is additionally configured to:
Before through exposure parameter of the described image signal processing unit according to camera described in the illuminance parameter regulation,
Collect multiple image datas for having different and identical illuminance；
Identify the grey parameter and illuminance parameter of every image data in multiple described image datas；
The the outputting and inputting as default classifier using the grey parameter and illuminance parameter, and based on multiple described figures
Classifier is preset as described in the grey parameter and illuminance parameter training of data.
8. device according to claim 7, wherein the adjustment module is additionally configured to: running illumination in the vehicle device
The grey parameter that detection algorithm obtains described image data is spent, the grey parameter is converted to by the figure by default classifier
As the illuminance parameter of data.
9. a kind of computer storage medium, the computer storage medium is stored with computer program code, when the computer
When program code is run on the computing device, the calculating equipment perform claim is caused to require the described in any item combination vehicles of 1-4
The camera exposure parameter method of adjustment of the unused resource of machine.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114095664A (en) * | 2020-11-06 | 2022-02-25 | 北京京东乾石科技有限公司 | Camera parameter adjusting method and device |
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