CN110443855A - Multi-camera calibration, device, storage medium and electronic equipment - Google Patents
Multi-camera calibration, device, storage medium and electronic equipment Download PDFInfo
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- CN110443855A CN110443855A CN201910731736.9A CN201910731736A CN110443855A CN 110443855 A CN110443855 A CN 110443855A CN 201910731736 A CN201910731736 A CN 201910731736A CN 110443855 A CN110443855 A CN 110443855A
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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
The application proposes a kind of multi-camera calibration, device, storage medium and electronic equipment, and this method includes the image for obtaining each camera and shooting simultaneously to calibration object, and demarcating includes target feature point on object；Target feature point is determined, corresponding to the image coordinate data in each image；According to the spatial data of image coordinate data and target feature point, the parameter of camera is determined to be demarcated, spatial data is the coordinate data of the real space position in world coordinate system.The combined calibratings of multiple cameras is efficiently completed in such a way that the application realizes that multiple cameras only clap an image simultaneously, effectively shortens calibration used times of multiple cameras, while ensureing calibration precision, promotes calibration efficiency.
Description
Technical field
This application involves technical field of image processing more particularly to a kind of multi-camera calibration, device, storage mediums
And electronic equipment.
Background technique
Mobile terminal to people it is daily take pictures bring convenient while, requirement of the people to the picture quality of shooting
Higher and higher, therefore, it is necessary to the parameter of camera is determined in mobile terminal manufacturing process to demarcate to camera, with this
To assist subsequent being preferably imaged.
In the related technology, multiple series of images is shot generally by two-dimensional surface calibration graph card, by carrying out to the image
Characteristic point detection, the method for then calculating camera parameter are demarcated.
Under this mode, when having multiple cameras on mobile terminal, need to expend longer time, calibration efficiency compared with
It is low.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
For this purpose, the purpose of the application is to propose that a kind of multi-camera calibration, device, storage medium and electronics are set
It is standby, it realizes multiple cameras while the mode for only clapping an image efficiently completes the combined calibrating of multiple cameras, effectively shorten
The calibration used time of multiple cameras while ensureing calibration precision, promotes calibration efficiency.
In order to achieve the above objectives, the multi-camera calibration that the application first aspect embodiment proposes is applied to electronics
In equipment, the electronic equipment includes multiple cameras, comprising: obtains each camera and shoots to obtain to calibration object simultaneously
Image, include target feature point on the calibration object；The target feature point is determined, corresponding to the figure in each described image
As coordinate data；According to the spatial data of described image coordinate data and the target feature point, the camera is determined
Parameter to be demarcated, the spatial data be world coordinate system in real space position coordinate data.
The multi-camera calibration that the application first aspect embodiment proposes, by obtaining each camera simultaneously to calibration
The image that object is shot, demarcating includes target feature point on object, and determines target feature point, corresponding in each image
Image coordinate data, and according to the spatial data of image coordinate data and target feature point, determine the parameter of camera
To be demarcated, spatial data is the coordinate data of the real space position in world coordinate system, can be realized multiple take the photograph
As the mode that head only claps an image simultaneously efficiently completes the combined calibratings of multiple cameras, the marks of multiple cameras is effectively shortened
Determine the used time, while ensureing calibration precision, promotes calibration efficiency.
In order to achieve the above objectives, the multi-cam caliberating device that the application second aspect embodiment proposes is applied to electronics
In equipment, the electronic equipment includes multiple cameras, comprising: module is obtained, for obtaining each camera simultaneously to mark
The image that earnest body is shot includes target feature point on the calibration object；First determining module, for determining the mesh
Characteristic point is marked, corresponding to the image coordinate data in each described image；Demarcating module, for according to described image coordinate data and
The spatial data of the target feature point, determine the parameter of the camera to be demarcated, the spatial data
For the coordinate data of the real space position in world coordinate system.
The multi-cam caliberating device that the application second aspect embodiment proposes, by obtaining each camera simultaneously to calibration
The image that object is shot, demarcating includes target feature point on object, and determines target feature point, corresponding in each image
Image coordinate data, and according to the spatial data of image coordinate data and target feature point, determine the parameter of camera
To be demarcated, spatial data is the coordinate data of the real space position in world coordinate system, can be realized multiple take the photograph
As the mode that head only claps an image simultaneously efficiently completes the combined calibratings of multiple cameras, the marks of multiple cameras is effectively shortened
Determine the used time, while ensureing calibration precision, promotes calibration efficiency.
In order to achieve the above objectives, the computer readable storage medium that the application third aspect embodiment proposes, is deposited when described
Instruction in storage media is performed by the processor of the first electronic equipment, so that the first electronic equipment is able to carry out one kind and takes the photograph more
As head scaling method, which comprises the multi-camera calibration that the application first aspect embodiment proposes.
The computer readable storage medium that the application third aspect embodiment proposes, by obtaining each camera simultaneously to mark
The image that earnest body is shot, demarcating includes target feature point on object, and determines target feature point, is corresponded in each image
Image coordinate data, and according to the spatial data of image coordinate data and target feature point, determine the ginseng of camera
For number to be demarcated, spatial data is the coordinate data of the real space position in world coordinate system, be can be realized multiple
The mode that camera only claps an image simultaneously efficiently completes the combined calibratings of multiple cameras, effectively shortens multiple cameras
The used time is demarcated, while ensureing calibration precision, promotes calibration efficiency.
In order to achieve the above objectives, the application fourth aspect embodiment proposes a kind of electronic equipment, which includes shell
Body, processor, memory, circuit board and power circuit, wherein the circuit board is placed in the space that the shell surrounds
Portion, the processor and the memory are arranged on the circuit board；The power circuit, for for the electronic equipment
Each circuit or device power supply；The memory is for storing executable program code；The processor described in reading by depositing
The executable program code stored in reservoir runs program corresponding with the executable program code, for executing: obtaining
Take each camera simultaneously to the image that shoots of calibration object, including target feature point on the calibration object；It determines
The target feature point, corresponding to the image coordinate data in each described image；According to described image coordinate data and the mesh
The spatial data for marking characteristic point determines the parameter of the camera to be demarcated, and the spatial data is the world
The coordinate data of real space position in coordinate system.
The application fourth aspect embodiment proposes a kind of electronic equipment, is clapped simultaneously calibration object by obtaining each camera
The image taken the photograph, demarcating includes target feature point on object, and determines target feature point, is sat corresponding to the image in each image
Data are marked, and according to the spatial data of image coordinate data and target feature point, determine the parameter of camera to carry out
Calibration, spatial data are the coordinate data of the real space position in world coordinate system, and it is same to can be realized multiple cameras
When only clap the mode of an image and efficiently complete the combined calibratings of multiple cameras, the calibration of multiple cameras of effectively shortening is used
When, while ensureing calibration precision, promote calibration efficiency.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram for the multi-camera calibration that one embodiment of the application proposes；
Fig. 2 is the embodiment of the present application acceptance of the bid earnest body schematic diagram；
Fig. 3 is the flow diagram for the multi-camera calibration that another embodiment of the application proposes；
Fig. 4 is the structural schematic diagram for the multi-cam caliberating device that one embodiment of the application proposes；
Fig. 5 is the structural schematic diagram for the multi-cam caliberating device that another embodiment of the application proposes；
Fig. 6 is the structural schematic diagram for the electronic equipment that one embodiment of the application proposes.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.On the contrary, this
The embodiment of application includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
When in order to solve that there is multiple cameras on mobile terminals in the related technology, needs to expend longer time, mark
Determine the lower technical problem of efficiency, provide a kind of multi-camera calibration in the embodiment of the present application, by obtaining each camera
The image shot simultaneously to calibration object, demarcating includes target feature point on object, and determines target feature point, is corresponded to
Image coordinate data in each image, and according to the spatial data of image coordinate data and target feature point, determination is taken the photograph
As the parameter of head is to be demarcated, spatial data is the coordinate data of the real space position in world coordinate system, is realized
The mode that multiple cameras only clap an image simultaneously efficiently completes the combined calibratings of multiple cameras, effectively shortens multiple camera shootings
The calibration used time of head while ensureing calibration precision, promotes calibration efficiency.
Fig. 1 is the flow diagram for the multi-camera calibration that one embodiment of the application proposes.
Referring to Fig. 1, this method comprises:
S101: obtaining the image that each camera simultaneously shoots calibration object, and demarcating includes target signature on object
Point.
Wherein, calibration object is three-dimensional three-dimensional object, or, or the calibration graph card of two-dimensional surface, not to this
It is restricted.
It is three-dimensional three-dimensional object that object can be preferably demarcated in the embodiment of the present application, it is contemplated that is same based on each camera
When to the image that shoots of calibration object, and since the position of each camera distribution is different, each camera is when taking pictures
Angle it is also not identical, as a result, using 3 D stereo object as calibration object, the figure for enabling to each camera while obtaining
The differentiation feature of picture is more obvious, convenient for accurately determining the relevant parameter of characteristic point, promotes the precision of calibration.
Wherein, target feature point can be predetermined, demarcate the point on object with significant feature, and the target is special
Sign point is used for subsequent carry out camera calibration, and the quantity of target feature point can be one or more, in order to ensure calibration essence
Accuracy generally presets multiple target feature points.
Referring to fig. 2, Fig. 2 is the embodiment of the present application acceptance of the bid earnest body schematic diagram, which is a cube, should
Multiple target feature points can be preset on calibration object 21, therefore can will be demarcated for the ease of subsequent progress characteristic point detection
The crosspoint (can be referred to as angle point) of black and white square is used as target feature point on object 21.
Optionally, in some embodiments, referring to Fig. 3, the image that each camera simultaneously shoots calibration object is obtained
Before, further includes:
S301: the installation position data of each camera is determined.
Wherein, position data of each camera relative to terminal structure can be referred to as installation position data, the installation position
Setting data can be specifically the mounting coordinate data corresponded in world coordinate system, for example, can be by the central point of terminal structure
The origin being mapped in world coordinate system, the coordinate data by each camera relative to the origin are right as installation position data
This is with no restriction.
S302: according to each installation position data, the installation center point of multiple cameras is determined.
In the embodiment of the present application, the installation position data of each camera is determined, in turn, according to each installation position data, really
The installation center point of fixed multiple cameras, that is, determine coordinate data of each camera relative to the origin in world coordinate system, make
For installation position data, four groups of installation position datas are obtained, then, using some mathematical operation rules, determine four groups of installation positions
The Centre location data for setting data, corresponding to the location point on terminal structure, using the location point as the installation of multiple cameras
Central point.
S303: according to installation center point and calibration object central point, electronic equipment and calibration object are placed on target position
Set place；Wherein, in target location, installation center point and the line and horizontal plane keeping parallelism for demarcating object central point.
During specific execute, mark similarly can be determined based on the operation method of above-mentioned determining installation center point
Determine object central point, then, target position is determined according to installation center point and calibration object central point, so that in target position
Place, installation center point and the line and horizontal plane keeping parallelism for demarcating object central point.
S304: controlling each camera and be based on target position, while to the shooting of calibration object to obtain image, image is to correspond to
Image in the field angle of camera.
As an example, three-dimensional scaling object can be placed first in a fixed position, secondly put mobile terminal
It is placed in and is at the position (position can be referred to as target position) of same horizontal line with three-dimensional scaling object, and ensure
Target location, the line and horizontal plane of the installation center point of multiple cameras and three-dimensional scaling object central point on mobile terminal
Keeping parallelism, and guarantee imaging of the three-dimensional scaling object to multiple cameras, in the field angle of each camera, and according to
The position that three-dimensional scaling object is placed, survey calculation obtain black and white X-comers (i.e. target feature point) on three-dimensional scaling object
Spatial data (x, y, z).
By the installation position data of each camera of determination, and according to each installation position data, multiple cameras are determined
Installation center point, and according to installation center point and calibration object central point, electronic equipment and calibration object are placed on target
At position, and in target location, installation center point and the line and horizontal plane keeping parallelism for demarcating object central point, due to matching
Set installation center point and demarcate the line and horizontal plane keeping parallelism of object central point, therefore, each camera and calibration object
Relative position, be relative to line it is symmetrical, enable to data during subsequent calculation parameters matrix is demarcated more
For beauty, simplify operation, convenient for the verifying of operation result, so that calibration is highly efficient, promotes calibration precision and calibration effect.
S102: determining target feature point, corresponding to the image coordinate data in each image.
It, can also be right after obtaining the image that each camera simultaneously shoots calibration object in some embodiments
Image carries out corresponding image procossing, to promote picture quality, ensures calibration effect.
And in the embodiment of the present application, denoising can be carried out to the corresponding image of each camera using Binarization methods,
To remove the noise signal in image.
It is of course also possible to use other any possible image processing algorithms are handled image to promote image matter
Amount, with no restriction to this.
Wherein, image coordinate data, it is false for describing position of the target feature point relative to a datum mark in image
If can be coordinate origin based on a preset datum mark in image, the plane right-angle coordinate of the coordinate origin be established,
Then, position coordinate data of the target feature point in the plane right-angle coordinate is determined, using the position coordinate data as figure
As coordinate data, with no restriction to this.
In the embodiment of the present application, after carrying out denoising to the corresponding image of each camera using Binarization methods,
Characteristic point detection is carried out to each image after denoising, to identify target feature point；Sub-pix angle is carried out to target feature point
Point detection is capable of the precision of effectively lifting feature point detection with the image coordinate data in each image of determination, also, due to
Denoising is carried out to image, reduces the occupied memory space of image, is effectively saved subsequent progress characteristic point detection institute
The calculation resources for needing to consume promote the efficiency of calibration while promoting calibration precision.
As an example, image is carried out to multiple images collected using the central processing unit built in mobile terminal
Processing, adaptive binary conversion treatment can be carried out to each image first, by binary conversion treatment with remove ambient brightness etc. its
Its external factor detects brought noise to target feature point, wherein adaptive Binarization methods can be selected OSTU and calculate
Method secondly, using Harris operator to carry out characteristic point detection to identify target feature point the image after binaryzation, and passes through
Sub-pix Corner Detection obtains the image coordinate data of characteristic point.
S103: according to the spatial data of image coordinate data and target feature point, determine the parameter of camera with into
Rower is fixed, and spatial data is the coordinate data of the real space position in world coordinate system.
Used target feature point is characterized set a little, i.e. target feature point to the embodiment of the present application during the calibration process
Quantity be it is multiple, image coordinate data are corresponding with each characteristic point, and spatial data is corresponding with each characteristic point, that is, scheme
As coordinate data be it is multiple, spatial data be also it is multiple, according to the space coordinate of image coordinate data and target feature point
Data determine the parameter of camera, comprising:
During specific calibration, it can all scheme for the first image when preceding camera according in the first image
As coordinate data, the interior matrix parameter for working as preceding camera is determined with spatial data.
Wherein, as one that preceding camera is in multiple cameras, when preceding camera is taking the photograph of currently being demarcated to it
As head can be referred to as the first image, all targets in the first image when the image that preceding camera shooting calibration object obtains
The image coordinate data of characteristic point, for being demarcated to when preceding camera, that is, according to target complete characteristic point in the first image
Image coordinate data, the spatial data with the target complete characteristic point corresponded in practical calibration object, using correlation
The operation method of camera Intrinsic Matrix in technology determines multiple camera internal reference matrix numbers.
During specific execute, according to interior matrix parameter, determined in conjunction with all images coordinate data in the second image
When the outer matrix parameter between preceding camera and other cameras, the second image is the corresponding image of other cameras, wherein in
Matrix parameter and outer matrix parameter are for being demarcated.
As an example, during determining outer matrix parameter, it can be and search out the when preceding camera respectively
In one image, the spatial data of target complete characteristic point, respectively and in the second image of other cameras, target complete
The intersection of the spatial data of characteristic point, by the intersection and the Intrinsic Matrix of each camera, determine each camera it
Between outer parameter matrix for being demarcated, by having the mobile terminal of multiple cameras to control, while shooting a Zhang San
The method of the stereo calibration object of dimension, and the image operation based on shooting simultaneously obtains interior matrix parameter and outer matrix parameter, it is real
Now efficiently complete four camera combined calibratings.
In the present embodiment, the image shot simultaneously to calibration object by obtaining each camera is demarcated on object and is wrapped
Target feature point is included, and determines target feature point, corresponding to the image coordinate data in each image, and according to image coordinate number
According to the spatial data with target feature point, the parameter of camera is determined to be demarcated, spatial data is world's seat
Mark system in real space position coordinate data, realize multiple cameras simultaneously only clap an image mode efficiently complete it is more
The combined calibrating of a camera, effectively shortening calibration used times of multiple cameras promotes calibration while ensureing calibration precision
Efficiency.
Fig. 4 is the structural schematic diagram for the multi-cam caliberating device that one embodiment of the application proposes.
The multi-cam caliberating device is applied in electronic equipment, and electronic equipment includes multiple cameras.
Referring to fig. 4, device 400 includes:
Module 401 is obtained, the image shot simultaneously to calibration object for obtaining each camera is demarcated on object and wrapped
Include target feature point；
First determining module 402, for determining target feature point, corresponding to the image coordinate data in each image；
Demarcating module 403 determines camera for the spatial data according to image coordinate data and target feature point
Parameter to be demarcated, spatial data be world coordinate system in real space position coordinate data.
Optionally, in some embodiments, referring to Fig. 5, device 400, further includes:
Second determining module 404, for determining the installation position data of each camera, and according to each installation position data,
The installation center point of multiple cameras is determined, and according to installation center point and calibration object central point, by electronic equipment and mark
Earnest body is placed on target location；Wherein, in target location, installation center point and the line and water for demarcating object central point
Plane keeping parallelism.
Optionally, in some embodiments, referring to Fig. 5, device 400, further includes:
Control module 405 is based on target position for controlling each camera, while to calibration object shooting to obtain figure
Picture, image are the image in the field angle of corresponding camera.
Optionally, in some embodiments, referring to Fig. 5, device 400, further includes:
Processing module 406, for carrying out denoising to the corresponding image of each camera using Binarization methods；
First determining module 402, is specifically used for:
Characteristic point detection is carried out to each image after denoising, to identify target feature point, and target signature is clicked through
Row sub-pix Corner Detection, with the image coordinate data in each image of determination.
Optionally, in some embodiments, target feature point is characterized set a little, image coordinate data and each characteristic point phase
Corresponding, spatial data is corresponding with each characteristic point, and demarcating module 403 is specifically used for:
For the first image for working as preceding camera, according to all images coordinate data in the first image, with space coordinate number
According to the interior matrix parameter determined when preceding camera, and according to interior matrix parameter, in conjunction with all images coordinate data in the second image
Determine that, when the outer matrix parameter between preceding camera and other cameras, the second image is the corresponding image of other cameras,
In interior matrix parameter and outer matrix parameter for being demarcated.
Optionally, in some embodiments, calibration object is three-dimensional three-dimensional object.
It should be noted that the explanation in earlier figures 1- Fig. 3 embodiment to multi-camera calibration embodiment
Suitable for the multi-cam caliberating device 400 of the embodiment, realization principle is similar, and details are not described herein again.
In the present embodiment, the image shot simultaneously to calibration object by obtaining each camera is demarcated on object and is wrapped
Target feature point is included, and determines target feature point, corresponding to the image coordinate data in each image, and according to image coordinate number
According to the spatial data with target feature point, the parameter of camera is determined to be demarcated, spatial data is world's seat
The coordinate data of real space position in mark system, can be realized multiple cameras, only the mode of one image of bat is efficiently complete simultaneously
At the combined calibrating of multiple cameras, effectively shorten calibration used times of multiple cameras is promoted while ensureing calibration precision
Demarcate efficiency.
Fig. 6 is the structural schematic diagram for the electronic equipment that one embodiment of the application proposes.
Referring to Fig. 6, the electronic equipment 60 of the present embodiment includes: shell 601, processor 602, memory 603, circuit board
604, power circuit 605, circuit board 604 are placed in the space interior that shell 601 surrounds, and processor 602, memory 603 are arranged
On circuit board 604；Power circuit 605, for powering for each circuit of electronic equipment 60 or device；Memory 603 is for depositing
Store up executable program code；Wherein, processor 602 is run by reading the executable program code stored in memory 603
Program corresponding with executable program code, for executing:
The image that each camera simultaneously shoots calibration object is obtained, demarcating includes target feature point on object；
Target feature point is determined, corresponding to the image coordinate data in each image；
According to the spatial data of image coordinate data and target feature point, determine the parameter of camera to be marked
Fixed, spatial data is the coordinate data of the real space position in world coordinate system.
It should be noted that the explanation in earlier figures 1- Fig. 3 embodiment to multi-camera calibration embodiment
Suitable for the electronic equipment 60 of the embodiment, realization principle is similar, and details are not described herein again.
In the present embodiment, the image shot simultaneously to calibration object by obtaining each camera is demarcated on object and is wrapped
Target feature point is included, and determines target feature point, corresponding to the image coordinate data in each image, and according to image coordinate number
According to the spatial data with target feature point, the parameter of camera is determined to be demarcated, spatial data is world's seat
The coordinate data of real space position in mark system, can be realized multiple cameras, only the mode of one image of bat is efficiently complete simultaneously
At the combined calibrating of multiple cameras, effectively shorten calibration used times of multiple cameras is promoted while ensureing calibration precision
Demarcate efficiency.
In order to realize above-described embodiment, the embodiment of the present application proposes a kind of computer readable storage medium, stores thereon
There is computer program, the multi-camera calibration of preceding method embodiment is realized when which is executed by processor.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
Suddenly be that relevant hardware can be instructed to complete by program, program can store in a kind of computer readable storage medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.If integrated module with
The form of software function module is realized and when sold or used as an independent product, also can store computer-readable at one
It takes in storage medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (14)
1. a kind of multi-camera calibration, which is characterized in that be applied in electronic equipment, the electronic equipment includes multiple takes the photograph
As head, which comprises
The image that each camera simultaneously shoots calibration object is obtained, includes target signature on the calibration object
Point；
The target feature point is determined, corresponding to the image coordinate data in each described image；
According to the spatial data of described image coordinate data and the target feature point, determine the parameter of the camera with
It is demarcated, the spatial data is the coordinate data of the real space position in world coordinate system.
2. multi-camera calibration as described in claim 1, which is characterized in that each camera of acquisition is right simultaneously
Before the image that calibration object is shot, further includes:
Determine the installation position data of each camera；
According to each installation position data, the installation center point of the multiple camera is determined；
According to the installation center point and the calibration object central point, the electronic equipment and the calibration object are placed on
Target location；Wherein, in the target location, the line and water of the installation center point and the calibration object central point
Plane keeping parallelism.
3. multi-camera calibration as claimed in claim 2, which is characterized in that described by the electronic equipment and the mark
After earnest body is placed on target location, further includes:
It controls each camera and is based on the target position, while the calibration object is shot to obtain described image, institute
State the image in the field angle that image is corresponding camera.
4. multi-camera calibration as described in claim 1, which is characterized in that each camera of acquisition is right simultaneously
After the image that calibration object is shot, further includes:
Denoising is carried out to the corresponding image of each camera using Binarization methods；
The determination target feature point, corresponding to the image coordinate data in each described image, comprising:
Characteristic point detection is carried out to each described image after denoising, to identify the target feature point；
Sub-pix Corner Detection is carried out to the target feature point, with the image coordinate data in each described image of determination.
5. multi-camera calibration as described in claim 1, which is characterized in that the target feature point is characterized collection a little
It closes, described image coordinate data is corresponding with each characteristic point, and the spatial data is corresponding with each characteristic point,
The spatial data according to described image coordinate data and the target feature point, determines the parameter of the camera,
Include:
It is sat according to all images coordinate data in the first image with the space for the first image for working as preceding camera
It marks data and determines the interior matrix parameter for working as preceding camera；
According to the interior matrix parameter, the preceding camera and other worked as is determined in conjunction with all images coordinate data in the second image
Outer matrix parameter between camera, second image is the corresponding image of other cameras, wherein the internal moment battle array
Parameter and the outer matrix parameter are for being demarcated.
6. multi-camera calibration as described in any one in claim 1-5, which is characterized in that the calibration object is three-dimensional
Three-dimensional object.
7. a kind of multi-cam caliberating device, which is characterized in that be applied in electronic equipment, the electronic equipment includes multiple takes the photograph
As head, described device includes:
Module is obtained, for obtaining each camera simultaneously to the image that shoots of calibration object, on the calibration object
Including target feature point；
First determining module, for determining the target feature point, corresponding to the image coordinate data in each described image；
Demarcating module, for the spatial data according to described image coordinate data and the target feature point, determine described in
For the parameter of camera to be demarcated, the spatial data is the number of coordinates of the real space position in world coordinate system
According to.
8. multi-cam caliberating device as claimed in claim 7, which is characterized in that described device, further includes:
Second determining module, for determining the installation position data of each camera, and according to each installation position data,
Determine the installation center point of the multiple camera, and according to the installation center point and the calibration object central point, it will
The electronic equipment and the calibration object are placed on target location；Wherein, in the target location, the installation center
The line and horizontal plane keeping parallelism of point and the calibration object central point.
9. multi-cam caliberating device as claimed in claim 8, which is characterized in that described device, further includes:
Control module is based on the target position for controlling each camera, while shooting the calibration object to obtain
To described image, described image is the image in the field angle of corresponding camera.
10. multi-cam caliberating device as claimed in claim 7, which is characterized in that described device, further includes:
Processing module, for carrying out denoising to the corresponding image of each camera using Binarization methods；
First determining module, is specifically used for:
Characteristic point detection is carried out to each described image after denoising, to identify the target feature point, and to the target
Characteristic point carries out sub-pix Corner Detection, with the image coordinate data in each described image of determination.
11. multi-cam caliberating device as claimed in claim 7, which is characterized in that the target feature point is characterized a little
Set, described image coordinate data is corresponding with each characteristic point, and the spatial data is opposite with each characteristic point
It answers, the demarcating module is specifically used for:
It is sat according to all images coordinate data in the first image with the space for the first image for working as preceding camera
It marks data and determines the interior matrix parameter for working as preceding camera, and according to the interior matrix parameter, in conjunction with whole in the second image
Image coordinate data determine the outer matrix parameter when between preceding camera and other cameras, and second image is described
The corresponding image of other cameras, wherein the internal moment battle array parameter and the outer matrix parameter are for being demarcated.
12. such as the described in any item multi-cam caliberating devices of claim 7-11, which is characterized in that the calibration object is three
The three-dimensional object of dimension.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as multi-camera calibration of any of claims 1-6 is realized when execution.
14. a kind of electronic equipment, including shell, processor, memory, circuit board and power circuit, wherein the circuit board peace
The space interior surrounded in the shell is set, the processor and the memory are arranged on the circuit board；The power supply
Circuit, for each circuit or the device power supply for the electronic equipment；The memory is for storing executable program code；
The processor is run and the executable program code by reading the executable program code stored in the memory
Corresponding program, for executing:
The image that each camera simultaneously shoots calibration object is obtained, includes target feature point on the calibration object；
The target feature point is determined, corresponding to the image coordinate data in each described image；
According to the spatial data of described image coordinate data and the target feature point, determine the parameter of the camera with
It is demarcated, the spatial data is the coordinate data of the real space position in world coordinate system.
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