CN110490938A - For verifying the method, apparatus and electronic equipment of camera calibration parameter - Google Patents
For verifying the method, apparatus and electronic equipment of camera calibration parameter Download PDFInfo
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- 238000012795 verification Methods 0.000 claims abstract description 77
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
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Abstract
The application proposes a kind of for verifying the method, apparatus and electronic equipment of camera calibration parameter, and this method includes the image for obtaining each camera and shooting to calibration object；Each image is corrected using calibrating parameters, each target image after being corrected；Same place is determined from each target image；According to the same place in each target image, judge whether calibrating parameters meet verification index.Pass through the application, due to being that the image that each camera of analysis shoots calibration object can intuitively reflect deviation situation of the calibrating parameters in imaging applications to carry out the verification of follow-up calibration parameter, so that the verification of calibrating parameters is more accurate, the verification effect of calibrating parameters is promoted.
Description
Technical field
This application involves technical field of electronic equipment more particularly to a kind of method for verifying camera calibration parameter,
Device and electronic equipment.
Background technique
Camera calibration, the i.e. internal reference of acquisition camera and outer ginseng, when using camera imaging, using what is demarcated in advance
Object to be shot is mapped to camera imaging plane to be imaged, in practical application from three-dimensional world by internal reference and outer ginseng
In the process, in order to ensure subsequent imaging effect, after being demarcated in advance to camera, it is necessary to obtained by calibrating interior
Ginseng and outer ginseng are verified.
In the related technology, when being verified to internal reference obtained by calibrating and outer ginseng, usually to the original of camera
Internal reference and outer ginseng add random noise, then, using after addition noise internal reference and outer ginseng carry out secondary calibration, by two deutero-albumoses
Surely the new internal reference and outer participation threshold value obtained is compared, and is verified according to comparison result.
It, can not due to being the verification for carrying out calibrating parameters by the way of being artificially introduced random noise under this mode
Directly deviation situation of the reflection calibrating parameters in subsequent imaging applications, verification is not accurate enough, verifies ineffective.
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 be to propose it is a kind of for verifying the method, apparatus and electronics of camera calibration parameter
Equipment, due to being that image that each camera of analysis shoots calibration object can to carry out the verification of follow-up calibration parameter
Intuitively deviation situation of the reflection calibrating parameters in imaging applications promotes calibration so that the verification of calibrating parameters is more accurate
The verification effect of parameter.
In order to achieve the above objectives, the side for being used to verify camera calibration parameter that the application first aspect embodiment proposes
Method is applied in electronic equipment, and electronic equipment includes multiple cameras, this method comprises: obtaining each camera to calibration
The image that object is shot；Each described image is corrected using calibrating parameters, each target image after being corrected；From
Same place is determined in each target image；According to the same place in each target image, judge that the calibrating parameters are
No satisfaction verifies index.
The method for verifying camera calibration parameter that the application first aspect embodiment proposes, by obtaining each camera shooting
The image that head shoots calibration object, and each image is corrected using calibrating parameters, each target after being corrected
Image, and same place is determined from each target image, and according to the same place in each target image, judge that calibrating parameters are
No satisfaction verifies index, due to being the image analyzing each camera and shooting to calibration object, to carry out follow-up calibration parameter
Verification, can intuitively reflect deviation situation of the calibrating parameters in imaging applications, so that the verification of calibrating parameters is more smart
Standard promotes the verification effect of calibrating parameters.
In order to achieve the above objectives, the dress for being used to verify camera calibration parameter that the application second aspect embodiment proposes
It sets, comprising: obtain module, the image shot for obtaining each camera to calibration object；Correction module, for adopting
Each described image is corrected with calibrating parameters, each target image after being corrected；Determining module is used for from each mesh
Same place is determined in logo image；Judgment module, for judging the calibration ginseng according to the same place in each target image
Whether number meets verification index.
The device for being used to verify camera calibration parameter that the application second aspect embodiment proposes, passes through and obtains each camera shooting
The image that head shoots calibration object, and each image is corrected using calibrating parameters, each target after being corrected
Image, and same place is determined from each target image, and according to the same place in each target image, judge that calibrating parameters are
No satisfaction verifies index, due to being the image analyzing each camera and shooting to calibration object, to carry out follow-up calibration parameter
Verification, can intuitively reflect deviation situation of the calibrating parameters in imaging applications, so that the verification of calibrating parameters is more smart
Standard promotes the verification effect of calibrating parameters.
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 terminal, enables the terminal to execute a kind of for verifying camera calibration ginseng
Several method, which comprises the method for verifying camera calibration parameter that the application first aspect embodiment proposes.
The computer readable storage medium that the application third aspect embodiment proposes, by obtaining each camera to calibration object
The image that body is shot, and each image is corrected using calibrating parameters, each target image after being corrected, Yi Jicong
Same place is determined in each target image, and according to the same place in each target image, judges whether calibrating parameters meet verification
Index, due to being that image that each camera of analysis shoots calibration object can to carry out the verification of follow-up calibration parameter
Intuitively deviation situation of the reflection calibrating parameters in imaging applications promotes calibration so that the verification of calibrating parameters is more accurate
The verification effect of parameter.
In order to achieve the above objectives, the application fourth aspect embodiment proposes a kind of electronic equipment, which includes
Ultra wide-angle imaging head, wide-angle camera, focal length camera, shell, processor, memory, circuit board and power circuit, wherein
The circuit board is placed in the space interior that the shell surrounds, and the processor and the memory are arranged in the circuit board
On；The power circuit, for each circuit or the device power supply for the electronic equipment；The memory is for storing and can hold
Line program code；The processor is held to run with described by reading the executable program code stored in the memory
The corresponding program of line program code, for executing: obtaining the image that each camera shoots calibration object；Using
Calibrating parameters are corrected each described image, each target image after being corrected；It is determined from each target image
Same place；According to the same place in each target image, judge whether the calibrating parameters meet verification index.
The electronic equipment that the application fourth aspect embodiment proposes shoots to obtain by obtaining each camera to calibration object
Image, and each image is corrected using calibrating parameters, each target image after being corrected, and from each target image
In determine same place, and according to the same place in each target image, judge whether calibrating parameters meet verification index, due to being
Analyzing the image that each camera shoots calibration object can intuitively be reflected with carrying out the verification of follow-up calibration parameter
Deviation situation of the calibrating parameters in imaging applications promotes the verification of calibrating parameters so that the verification of calibrating parameters is more accurate
Effect.
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 method for verifying camera calibration parameter 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 method for verifying camera calibration parameter that another embodiment of the application proposes；
Fig. 4 is the structural schematic diagram for the device for verifying camera calibration parameter that one embodiment of the application proposes；
Fig. 5 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.
It, can not in order to solve to carry out the verification of calibrating parameters by the way of being artificially introduced random noise in the related technology
Directly deviation situation of the reflection calibrating parameters in subsequent imaging applications, verification is not accurate enough, verifies ineffective, the application reality
It applies example and a kind of method for verifying camera calibration parameter is provided, calibration object is shot by obtaining each camera
The image arrived, and each described image is corrected using calibrating parameters, each target image after being corrected, from each mesh
Same place is determined in logo image, and according to the same place in each target image, judges whether the calibrating parameters are full
Foot verification index, due to being the image analyzing each camera and being shot to calibration object, to carry out the school of follow-up calibration parameter
It tests, can intuitively reflect that deviation situation of the calibrating parameters in imaging applications mentions so that the verification of calibrating parameters is more accurate
Rise the verification effect of calibrating parameters.
Fig. 1 is the flow diagram for the method for verifying camera calibration parameter that one embodiment of the application proposes.
The present embodiment is configured in the method for verifying camera calibration parameter for verifying camera calibration parameter
Device in illustrate.
Method in this implementation for verifying camera calibration parameter is configured in for verifying camera calibration parameter
In device, the device for verifying camera calibration parameter be can be set in electronic equipment or server, and the application is implemented
Example to this with no restriction.
The present embodiment is by taking the method for verifying camera calibration parameter is configured in the electronic device as an example.
Electronic equipment can be smart phone, tablet computer, vehicle-mounted computer etc., with no restriction to this.
Electronic equipment in the embodiment of the present invention may include multiple cameras, and multiple cameras are for example, ultra wide-angle imaging
Head, wide-angle camera, focal length camera etc., with no restriction to this.
In the embodiment of the present invention, shown by ultra wide-angle imaging head, wide-angle camera, focal length camera of multiple cameras
Example.
Referring to Fig. 1, this method comprises:
S101: the image that each camera shoots calibration object is obtained.
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.
Referring to fig. 2, Fig. 2 is the embodiment of the present application acceptance of the bid earnest body schematic diagram, which is the calibration of two-dimensional surface
Graph card demarcates the point on object with significant feature, can be referred to as default characteristic point, the default characteristic point for it is subsequent into
Row camera calibration, the quantity for presetting characteristic point can be one or more, generally default more in order to ensure calibration precision
A default characteristic point can preset multiple default characteristic points on the calibration object 21 in Fig. 2, for the ease of subsequent carry out characteristic point
Therefore detection can will demarcate the crosspoint (can be referred to as angle point) of black and white square on object 21 as default
Characteristic point.
During specific execute, each camera can control, calibration object is shot to obtain image, for example, can be with
It controls each camera calibration object to be shot to obtain image simultaneously, and each camera shooting is obtained by the central processing unit of electronic equipment
The image that head shoots calibration object, with no restriction to this.
As an example, each camera is being controlled, when shooting to obtain image to calibration object, calibration graph card can be being put
It is placed in fixed position, such as calibration graph card is placed perpendicular to ground, electronic equipment is parallel to each other with calibration graph card, and at a distance of special
Fixed distance, electronic equipment is perpendicular to ground, and the optical axis of each camera is parallel to ground perpendicular to electronic equipment on electronic equipment
Face controls each camera under this modes of emplacement, to calibration object shoot to obtain image, then, by shooting obtain with respectively take the photograph
In memory as corresponding image storage, can also be associated with correspondence image by the mark of each camera in storage,
And the mark of each camera is associated with correspondence image and is stored, image is rapidly read convenient for subsequent.
During specific execute, each camera is being controlled, when shooting to obtain image to calibration object, the angle of shooting
It can be to face calibration maps card, alternatively, graph card can also be demarcated so that side is opposite, acquire under each angle, it is corresponding with each camera
Image is parallel to each other alternatively, electronic equipment also can be set with calibration graph card, and multiple and different specific distance apart, from
And based under each specific distance, acquiring image corresponding with each camera, it is possible thereby to support subsequent different angles to be respectively adopted
Degree, the corresponding image of different specific ranges are repeatedly verified, and the precision of calibrating parameters verification is ensured with multi-angle.
S102: each image is corrected using calibrating parameters, each target image after being corrected.
Wherein, example, calibration ginseng are carried out by ultra wide-angle imaging head, wide-angle camera, focal length camera of multiple cameras
Number can be, for example, ultra wide-angle imaging head, wide-angle camera, and the internal reference and ultra wide-angle imaging head of focal length camera are taken the photograph with wide-angle
Outer ginseng as the outer ginseng between head, between wide-angle camera and focal length camera.
Wherein, the image after being corrected using calibrating parameters to each image can be referred to as target image.
During specific execute, it can be taken the photograph using the internal reference and ultra-wide angle of ultra wide-angle imaging head and wide-angle camera
As the outer ginseng between head and wide-angle camera, the image of ultra wide-angle imaging head and wide-angle camera is corrected, is distinguished
And ultra wide-angle imaging head target image corresponding with wide-angle camera, then, using in wide-angle camera and focal length camera
Ginseng and the outer ginseng between wide-angle camera and focal length camera, are corrected the image of wide-angle camera and focal length camera,
Obtain respectively and wide-angle camera target image corresponding with focal length camera, it is subsequent using respectively with ultra wide-angle imaging head and wide
The corresponding target image of angle camera, verifies the calibrating parameters of ultra wide-angle imaging head and wide-angle camera, and uses
Respectively and wide-angle camera target image corresponding with focal length camera, to the calibrating parameters of wide-angle camera and focal length camera
It is verified, with no restriction to this.
S103: same place is determined from each target image.
Wherein, of the same name if ultra-wide angle, wide-angle, focal length camera shoot to obtain each target image to same calibration object
Point is the actual point demarcated on object, point of the correspondence mappings in each target image.
As an example, using respectively and ultra wide-angle imaging head target image corresponding with wide-angle camera, to surpassing
When the calibrating parameters of wide-angle camera and wide-angle camera are verified, the first mesh corresponding with ultra wide-angle imaging head can be determined
Logo image, and the first same place of the second target image corresponding with wide-angle camera, using respectively with wide-angle camera with
Focal length camera corresponding target image can be with when verifying to the calibrating parameters of ultra wide-angle imaging head and focal length camera
Determining third target image corresponding with wide-angle camera, and the second of the 4th target image corresponding with focal length camera are of the same name
Point, with no restriction to this.
In some embodiments, when determining same place from each target image, it can use in the related technology
Image recognition algorithm identifies the same place in each target image.
And in the embodiment of the present invention, sub-pix Corner Detection can be carried out to each target image, it is described pre- to identify
If characteristic point maps to the image coordinate data in each target image；According to described image coordinate data, to each mesh
Logo image carries out Feature Points Matching, to determine the same place between the multiple target image.
As an example, it is assumed that including target image A, target image B and target image C, preset characteristic point mapping
Image coordinate data into target image A are A1, and the image coordinate data that default characteristic point maps in target image B are
A2, it is A3 that default characteristic point, which maps to the image coordinate data in target image C, then can be according to image coordinate data A1, figure
Picture coordinate data A2 and image coordinate data A3 is analyzed, and determines the spy in the target image of A1, A2 and A3 instruction
Whether sign point corresponds to same default characteristic point in calibration graph card, if so, determining the target image of A1, A2 and A3 instruction
In characteristic point be same place, and the same place correspond to different target images in characteristic point, the same place is different
There are different image coordinate data in target image.
By carrying out sub-pix Corner Detection to each target image, to identify that the default characteristic point maps to each institute
State the image coordinate data in target image；According to described image coordinate data, characteristic point is carried out to each target image
Match, to determine the same place between the multiple target image, can fast and accurately determine same between each target image
Famous cake, and calibrating parameters are judged according to the coordinate of same place in each target image, shortening judges the time, improves judgment accuracy.
S104: according to the same place in each target image, judge whether calibrating parameters meet verification index.
During specific execute, since same place corresponds to the characteristic point in different target images, the same place
There are different image coordinate data in different target images, can analyze the same place corresponding to different target image
In image coordinate data, judge whether calibrating parameters meet verification index with the result according to analysis.
In the present embodiment, the image that calibration object is shot by obtaining each camera, and using calibration ginseng
Several to be corrected to each described image, each target image after being corrected determines same place from each target image,
And according to the same place in each target image, judge whether the calibrating parameters meet verification index, due to being analysis
The image that each camera shoots calibration object can intuitively reflect calibration to carry out the verification of follow-up calibration parameter
Deviation situation of the parameter in imaging applications promotes the verification effect of calibrating parameters so that the verification of calibrating parameters is more accurate.
Fig. 3 is the flow diagram for the method for verifying camera calibration parameter that another embodiment of the application proposes.
Referring to Fig. 3, this method comprises:
S301: the image that each camera shoots calibration object is obtained.
S302: each described image is corrected using calibrating parameters, each target image after being corrected.
S303: same place is determined from each target image.
The implementation procedure of S301-S303 may refer to above-described embodiment, and details are not described herein.
S304: it determines the image coordinate that target same place is mapped in each target image, obtains same with the target
The corresponding multiple images coordinate of famous cake, wherein the target same place is one in multiple same places.
S305: according to described multiple images coordinate, the corresponding parallax of the target same place is determined.
S306: according to the corresponding parallax of the target same place, judge whether the calibrating parameters meet verification index.
, can be from preset relation table in some embodiments, mark corresponding to the determining parallax with above-mentioned target same place
Quasi- feature, and the corresponding actual feature of post analysis calibrating parameters, actual feature are compared with standard feature, to judge
State whether calibrating parameters meet verification index.
And in the embodiment of the present invention, according to the corresponding parallax of the target same place, determine corresponding depth value；According to institute
Depth value is stated, judges whether the calibrating parameters meet verification index.
It as an example, can be according to coordinate of the target same place on different images, to different images base direction
Upper coordinate is subtracted each other to obtain corresponding parallax, wherein target same place has multiple, behaviour similar to the progress of each same place
Make, obtain multiple corresponding parallaxes, depth value is being converted for each parallax according to principle of triangulation, multiple parallax correspondences obtain
Multiple depth values judge the accuracy of calibrating parameters by depth value, since depth value can more intuitively give expression to same place
Parallax so that judge the calibrating parameters whether meet verification index reference information more intuitively change, promoted determine
Effect, so that decision logic is relatively sharp.
Optionally, according to the corresponding depth value of each target same place, average depth value is determined；Judge described average deep
Whether angle value is in threshold range；If the average depth value is in the threshold range, it is determined that the calibrating parameters meet
The verification index, if the average depth value is not in the threshold range, it is determined that the calibrating parameters are unsatisfactory for described
Verify index.
In some embodiments, multiple target corresponding dot pairs answer multiple parallaxes, there are multiple depth values accordingly, to multiple depths
Angle value carries out mean value computation, obtains average depth value, in the range that error allows, by the threshold value of average depth value and setting
It is compared, when average depth value belongs in threshold range, judges that camera calibration parameter meets verification index, in average depth
When angle value exceeds threshold range, judge that camera calibration parameter does not meet verification index, by calculating depth mean value and and threshold value
It is compared, enables to comparison more simple and direct, and meet application scenarios demand, effectively improving the judgement of camera calibration parameter
Accuracy while, promoted determine efficiency.
In the present embodiment, the image that calibration object is shot by obtaining each camera, and using calibration ginseng
Several to be corrected to each described image, each target image after being corrected determines same place from each target image,
And according to the same place in each target image, judge whether the calibrating parameters meet verification index, due to being analysis
The image that each camera shoots calibration object can intuitively reflect calibration to carry out the verification of follow-up calibration parameter
Deviation situation of the parameter in imaging applications promotes the verification effect of calibrating parameters so that the verification of calibrating parameters is more accurate,
By determining corresponding depth value according to the corresponding parallax of the target same place；According to the depth value, the calibration is judged
Whether parameter meets verification index, and the accuracy of calibrating parameters is judged by depth value, since depth value being capable of more intuitive earth's surface
Up to the parallax of same place out so that judge the calibrating parameters whether meet verification index reference information it is more intuitive
Change, is promoted and determine effect, so that decision logic is relatively sharp.By calculating depth mean value and being compared with threshold value, can make
It must compare more simple and direct, and meet application scenarios demand, while effectively improving the accuracy of camera calibration parameter judgement,
It is promoted and determines efficiency.
Fig. 4 is the structural schematic diagram for the device for verifying camera calibration parameter that one embodiment of the application proposes.
Device for verifying camera calibration parameter is arranged in the electronic device.
Electronic equipment can be smart phone, tablet computer, vehicle-mounted computer etc..
Referring to fig. 4, which includes:
Module 401 is obtained, the image shot for obtaining each camera to calibration object；
Correction module 402, for being corrected using calibrating parameters to each image, each target image after being corrected；
Determining module 403, for determining same place from each target image；
Judgment module 404, for judging whether calibrating parameters meet verification and refer to according to the same place in each target image
Mark.
Optionally, in some embodiments, the quantity of same place be it is multiple, judgment module 404 is specifically used for:
It determines the image coordinate that target same place is mapped in each target image, obtains corresponding with target same place multiple
Image coordinate, wherein target same place is one in multiple same places, and according to multiple images coordinate, determines that target is of the same name
The corresponding parallax of point, and according to the corresponding parallax of target same place, judge whether calibrating parameters meet verification index.
Optionally, in some embodiments, demarcating on object includes default characteristic point, and determining module 403 is specifically used for:
Sub-pix Corner Detection is carried out to each target image, to identify that default characteristic point maps to the figure in each target image
As coordinate data, and according to image coordinate data, Feature Points Matching is carried out to each target image, to determine multiple target images
Between same place.
Optionally, in some embodiments, judgment module 404 is further used for:
According to the corresponding parallax of target same place, corresponding depth value is determined, and according to depth value, judge that calibrating parameters are
No satisfaction verifies index.
Optionally, in some embodiments, judgment module 404 is also used to:
According to the corresponding depth value of each target same place, average depth value is determined, and judge average depth value whether in threshold
It is worth in range；
If average depth value is in threshold range, it is determined that calibrating parameters meet verification index, if average depth value does not exist
In threshold range, it is determined that calibrating parameters are unsatisfactory for verification index.
It should be noted that the embodiment of the method for verifying camera calibration parameter in earlier figures 1- Fig. 3 embodiment
Explanation be also applied for the embodiment for verifying the device 400 of camera calibration parameter, realization principle is similar, this
Place is not repeating.
In the present embodiment, the image that calibration object is shot by obtaining each camera, and use calibrating parameters pair
Each image is corrected, each target image after being corrected, and same place is determined from each target image, according to each target
Same place in image, judges whether calibrating parameters meet verification index, due to being each camera of analysis to calibration object shooting
Obtained image can intuitively reflect deviation of the calibrating parameters in imaging applications to carry out the verification of follow-up calibration parameter
Situation promotes the verification effect of calibrating parameters so that the verification of calibrating parameters is more accurate.
Fig. 5 is the structural schematic diagram for the electronic equipment that one embodiment of the application proposes.
Referring to Fig. 5, the electronic equipment 50 of the present embodiment includes: ultra wide-angle imaging head 501, and wide-angle camera 502, focal length are taken the photograph
As head 503, shell 504, processor 505, memory 506, circuit board 07, power circuit 508, circuit board 507 is placed in shell
504 space interiors surrounded, processor 505, memory 506 are arranged on circuit board 507；Power circuit 508, for being electronics
The each circuit of equipment 50 or device power supply；Memory 506 is for storing executable program code；Wherein, processor 505 passes through reading
The executable program code stored in access to memory 506 runs program corresponding with executable program code, for executing:
Obtain the image that each camera shoots calibration object；
Each image is corrected using calibrating parameters, each target image after being corrected；
Same place is determined from each target image；
According to the same place in each target image, judge whether calibrating parameters meet verification index.
It should be noted that the embodiment of the method for verifying camera calibration parameter in earlier figures 1- Fig. 3 embodiment
Explanation be also applied for the electronic equipment 50 of the embodiment, realization principle is similar, is not repeating herein.
In the present embodiment, the image that calibration object is shot by obtaining each camera, and use calibrating parameters pair
Each image is corrected, each target image after being corrected, and same place is determined from each target image, according to each target
Same place in image, judges whether calibrating parameters meet verification index, due to being each camera of analysis to calibration object shooting
Obtained image can intuitively reflect deviation of the calibrating parameters in imaging applications to carry out the verification of follow-up calibration parameter
Situation promotes the verification effect of calibrating parameters so that the verification of calibrating parameters is more accurate.
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, realization preceding method embodiment is used to verify camera calibration parameter when which is executed by processor
Method.
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
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, 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.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory 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 (12)
1. a kind of method for verifying camera calibration parameter is applied in electronic equipment, the electronic equipment includes multiple
Camera, which is characterized in that the described method includes:
Obtain the image that each camera shoots calibration object；
Each described image is corrected using calibrating parameters, each target image after being corrected；
Same place is determined from each target image；
According to the same place in each target image, judge whether the calibrating parameters meet verification index.
2. the method as described in claim 1 for verifying camera calibration parameter, which is characterized in that the number of the same place
It is multiple for measuring, and the same place according in each target image judges whether the calibrating parameters meet verification index, packet
It includes:
It determines the image coordinate that target same place is mapped in each target image, obtains corresponding with the target same place
Multiple images coordinate, wherein the target same place is one in multiple same places；
According to described multiple images coordinate, the corresponding parallax of the target same place is determined；
According to the corresponding parallax of the target same place, judge whether the calibrating parameters meet verification index.
3. the method for verifying camera calibration parameter as claimed in claim 2, which is characterized in that wrapped on the calibration object
Default characteristic point is included, it is described to determine same place from each target image, comprising:
Sub-pix Corner Detection is carried out to each target image, to identify that the default characteristic point maps to each target figure
Image coordinate data as in；
According to described image coordinate data, Feature Points Matching is carried out to each target image, to determine the multiple target
Same place between image.
4. the method as claimed in claim 2 for verifying camera calibration parameter, which is characterized in that described according to the mesh
The corresponding parallax of same place is marked, judges whether the calibrating parameters meet verification index, comprising:
According to the corresponding parallax of the target same place, corresponding depth value is determined；
According to the depth value, judge whether the calibrating parameters meet verification index.
5. the method as claimed in claim 2 for verifying camera calibration parameter, which is characterized in that described according to the depth
Angle value, judges whether the calibrating parameters meet verification index, comprising:
According to the corresponding depth value of each target same place, average depth value is determined；
Judge the average depth value whether in threshold range；
If the average depth value is in the threshold range, it is determined that the calibrating parameters meet the verification index, if institute
Average depth value is stated not in the threshold range, it is determined that the calibrating parameters are unsatisfactory for the verification index.
6. it is a kind of for verifying the device of camera calibration parameter, it is applied in electronic equipment, the electronic equipment includes multiple
Camera, which is characterized in that described device includes:
Module is obtained, the image shot for obtaining each camera to calibration object；
Correction module, for being corrected using calibrating parameters to each described image, each target image after being corrected；
Determining module, for determining same place from each target image；
Judgment module, for judging whether the calibrating parameters meet verification and refer to according to the same place in each target image
Mark.
7. as claimed in claim 6 for verifying the device of camera calibration parameter, which is characterized in that the number of the same place
It is multiple for measuring, and the judgment module is specifically used for:
It determines the image coordinate that target same place is mapped in each target image, obtains corresponding with the target same place
Multiple images coordinate, wherein the target same place is one in multiple same places, and according to described multiple images coordinate,
It determines the corresponding parallax of the target same place, and according to the corresponding parallax of the target same place, judges the calibration ginseng
Whether number meets verification index.
8. as claimed in claim 7 for verifying the device of camera calibration parameter, which is characterized in that on the calibration object
Including presetting characteristic point, the determining module is specifically used for:
Sub-pix Corner Detection is carried out to each target image, to identify that the default characteristic point maps to each target figure
Image coordinate data as in, and according to described image coordinate data, Feature Points Matching is carried out to each target image, with true
Make the same place between the multiple target image.
9. as claimed in claim 7 for verifying the device of camera calibration parameter, which is characterized in that the judgment module,
It is further used for:
According to the corresponding parallax of the target same place, corresponding depth value is determined, and according to the depth value, judge the mark
Determine whether parameter meets verification index.
10. as claimed in claim 7 for verifying the device of camera calibration parameter, which is characterized in that the judgment module,
It is also used to:
According to the corresponding depth value of each target same place, average depth value is determined, and whether judge the average depth value
In threshold range；
If the average depth value is in the threshold range, it is determined that the calibrating parameters meet the verification index, if institute
Average depth value is stated not in the threshold range, it is determined that the calibrating parameters are unsatisfactory for the verification index.
11. a kind of electronic equipment, including ultra wide-angle imaging head, wide-angle camera, focal length camera, shell, processor, storage
Device, circuit board and power circuit, wherein the circuit board is placed in the space interior that the shell surrounds, the processor and institute
Memory is stated to be arranged on the circuit board；The power circuit, for each circuit or the device confession for the electronic equipment
Electricity；The memory is for storing executable program code；The processor is held by what is stored in the reading memory
Line program code runs program corresponding with the executable program code, for executing:
Obtain the image that each camera shoots calibration object；
Each described image is corrected using calibrating parameters, each target image after being corrected；
Same place is determined from each target image；
According to the same place in each target image, judge whether the calibrating parameters meet verification index.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
It executes and realizes the method according to any one of claims 1 to 5 for verifying camera calibration parameter.
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