CN111279393A - Camera calibration method, device, equipment and storage medium - Google Patents
Camera calibration method, device, equipment and storage medium Download PDFInfo
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- CN111279393A CN111279393A CN201880069396.1A CN201880069396A CN111279393A CN 111279393 A CN111279393 A CN 111279393A CN 201880069396 A CN201880069396 A CN 201880069396A CN 111279393 A CN111279393 A CN 111279393A
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- 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 embodiment of the invention provides a camera calibration method, a device, equipment and a storage medium, wherein the method comprises the following steps: the visible light module and the infrared light module are controlled to shoot the calibration device at the same time, the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate; acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at any moment; and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image. According to the embodiment of the invention, the visible light module and the infrared light module are calibrated by controlling the visible light module and the infrared light module to shoot the calibration device at the same time and according to the first image shot by the visible light module and the second image shot by the infrared light module, and the calibration device has a simple structure, so that the efficiency of calibrating the visible light module and the infrared light module is improved.
Description
Technical Field
The embodiment of the invention relates to the field of cameras, in particular to a camera calibration method, a camera calibration device, camera calibration equipment and a storage medium.
Background
In the prior art, sometimes a visible light image shot by a visible light camera and an infrared image shot by an infrared camera need to be fused, but the visible light image and the infrared image cannot be directly fused due to different angles of view and different resolutions of the visible light camera and the infrared camera, and the visible light camera and the infrared camera need to be calibrated.
In the prior art, a calibration device and a calibration method for simultaneously calibrating a visible light camera and an infrared camera exist, but the structure of the calibration device is complex, so that the calibration process is complicated.
Disclosure of Invention
The embodiment of the invention provides a camera calibration method, a camera calibration device, equipment and a storage medium, which are used for improving the efficiency of calibrating a visible light module and an infrared light module.
The first aspect of the embodiments of the present invention provides various camera calibration methods, which are applied to a shooting device, where the shooting device includes a visible light module and an infrared light module, and the method includes:
controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate;
acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment;
and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
A second aspect of the embodiments of the present invention is to provide a calibration apparatus, including: the heating component is arranged on the calibration plate, and color difference exists between the calibration plate and the heating component.
A third aspect of embodiments of the present invention is to provide a photographing apparatus including:
the device comprises a visible light module, an infrared light module and a processor;
the visible light module is used for collecting visible light images;
the infrared light module is used for collecting an infrared light image;
the processor is configured to:
controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate;
acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment;
and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
According to the camera calibration method, the camera calibration device, the camera calibration equipment and the storage medium, the calibration device is simultaneously shot by controlling the visible light module and the infrared light module of the shooting equipment, the calibration device comprises the calibration plate and the heating component, and the visible light module and the infrared light module are calibrated according to the position information of the heating component in a first image shot by the visible light module and the position information of the heating component in a second image shot by the infrared light module.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a flowchart of a camera calibration method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a calibration apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another calibration apparatus provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of another calibration apparatus provided in an embodiment of the present invention;
fig. 5 is a flowchart of a camera calibration method according to another embodiment of the invention;
fig. 6 is a structural diagram of a calibration apparatus provided in an embodiment of the present invention;
fig. 7 is a structural diagram of a photographing apparatus according to an embodiment of the present invention.
Reference numerals:
20: calibrating the plate; 21: a heat generating component; 30: calibrating the plate;
31: a white ceramic plate heat source; 60: a calibration device; 61: calibrating the plate;
62: a heat generating component; 70: a photographing device; 71: a visible light module;
72: an infrared light module; 73: a processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a camera calibration method. The camera calibration method is applied to shooting equipment, and the shooting equipment comprises a visible light module and an infrared light module. Fig. 1 is a flowchart of a camera calibration method according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include:
s101, controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate.
In this embodiment, the shooting device may be a camera, and the camera housing is provided with a visible light module and an infrared light module, and optionally, the visible light module is a visible light lens, and the infrared light module is an infrared lens. The camera also comprises a processor which can control the visible light module and the infrared light module to shoot the calibration device at the same time. When the visible light module and the infrared light module shoot the calibration device at the same time, the camera can be fixed, so that the camera is opposite to the calibration device.
Optionally, the calibration apparatus includes: the calibration plate and the heating component are arranged on the calibration plate. As shown in fig. 2, 20 denotes a calibration board, and 21 denotes a heat generating component on the calibration board 20. The description is only illustrative, and the specific form of the calibration plate and the specific form of the heat generating component are not limited.
Optionally, a color difference exists between the calibration plate and the heating assembly. As shown in fig. 2, the calibration plate 20 is white and the heat generating component 21 is black.
In other embodiments, as shown in fig. 3 or 4, the calibration plate 30 may be black and the heat generating components may be white. Optionally, the calibration plate is a black insulation plate. Optionally, the heating component is a preset number of white ceramic chip heat sources.
As shown in fig. 3, the calibration plate 30 is a black insulation plate. The heating component is a plurality of white ceramic chip heat sources, and 31 represents one white ceramic chip heat source in the plurality of white ceramic chip heat sources. In this embodiment, the number of the white ceramic plate heat sources is not limited, and as shown in fig. 3, 9 white ceramic plate heat sources 31 may be disposed on the black insulation board 30. Alternatively, as shown in fig. 4, 10 white ceramic plate heat sources 31 are disposed on the black insulation board 30. It should be understood that the illustration is only exemplary and does not limit the specific number of white ceramic heat sources. In addition, the shape of the white ceramic plate heat source is not limited in this embodiment, and specifically, the shape of the white ceramic plate heat source may be a regular shape or an irregular shape. As shown in fig. 3 or fig. 4, the white ceramic plate heat source is circular, and in other embodiments, it may also be square, triangular, etc.
Optionally, the preset number of white ceramic chip heat sources are uniformly distributed in the calibration plate. As shown in fig. 3 or 4, a plurality of white ceramic plate heat sources 31 are uniformly distributed in the calibration plate 30. In other embodiments, the plurality of white ceramic plate heat sources 31 may also be non-uniformly distributed in the calibration plate 30.
In addition, the size of the white ceramic plate heat source and the size of the calibration plate are not limited in this embodiment, and optionally, the calibration plate is a black thermal insulation plate with a size of about 2.5m by 2.5m, and the size of the white ceramic plate heat source is about 50mm by 50 mm.
Step S102, a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment are obtained.
Taking the calibration device shown in fig. 3 as an example, the processor in the camera can control the visible light module and the infrared light module to shoot the calibration device shown in fig. 3 at the same time, and it can be understood that the image shot by the visible light module is a visible light image, and the image shot by the infrared light module is an infrared image. Here, a visible light image of the calibration device captured by the visible light module at a certain time is referred to as a first image, and an infrared image of the calibration device captured by the infrared light module at that time is referred to as a second image. Further, the processor obtains a first image of the calibration device captured by the visible light module at a certain moment and a second image of the calibration device captured by the infrared light module at the moment, that is, the processor obtains images captured by the visible light module and the infrared light module at the same moment respectively. It is understood that in the first image, i.e., the visible light image, taken by the visible light module, the calibration plate 30 is black and the plurality of white ceramic plate heat sources 31 are white. In the second image, i.e. the infrared image, captured by the infrared light module, the calibration plate 30 is white, and the plurality of white ceramic plate heat sources 31 are black.
Step S103, calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
After the processor acquires the images respectively shot by the visible light module and the infrared light module at the same time, namely the first image and the second image, further, the position information of the plurality of white ceramic chip heat sources 31 in the first image and the position information of the plurality of white ceramic chip heat sources 31 in the second image are determined. Specifically, the processor may detect the position information of the plurality of white ceramic heat sources 31 in the first image and the position information of the plurality of white ceramic heat sources 31 in the second image according to a preset ceramic heat source detection algorithm.
Since the visible light module and the infrared light module have different field angles and the resolution of the images respectively acquired by the visible light module and the infrared light module are also different, the position information of the plurality of white ceramic plate heat sources 31 in the first image may be different from the position information of the plurality of white ceramic plate heat sources 31 in the second image. In this embodiment, the processor may calibrate the visible light module and the infrared light module according to the position information of the plurality of white ceramic heat sources 31 in the first image and the position information of the plurality of white ceramic heat sources 31 in the second image.
Optionally, the calibrating the visible light module and the infrared light module according to the position information of the heating element in the first image and the position information of the heating element in the second image includes: determining a transformation relation between the first image and the second image according to the position information of the heating component in the first image and the position information of the heating component in the second image; and calibrating the visible light module and the infrared light module according to the transformation relation between the first image and the second image.
For example, the processor may determine a transformation relationship between the first image and the second image according to the position information of the plurality of white ceramic sheet heat sources 31 in the first image and the position information of the plurality of white ceramic sheet heat sources 31 in the second image. Optionally, the transformation relationship between the first image and the second image includes at least one of: a rotational transformation relationship, a scaling transformation relationship, a translation transformation relationship, a cropping transformation relationship between the first image and the second image. Further, according to the transformation relationship between the first image and the second image, the visible light module and the infrared light module are calibrated, for example, the position and the posture of the visible light module relative to the infrared light module are calibrated, or the position and the posture of the infrared light module relative to the visible light module are calibrated. Or the internal parameter and the external parameter of the visible light module are known, and the internal parameter and the external parameter of the infrared light module are determined according to the internal parameter and the external parameter of the visible light module and the position and the posture of the calibrated infrared light module relative to the visible light module. Or, knowing the internal parameter and the external parameter of the infrared light module, and determining the internal parameter and the external parameter of the visible light module according to the internal parameter and the external parameter of the infrared light module and the position and the posture of the visible light module relative to the infrared light module.
This embodiment shoots calibration device simultaneously through the visible light module and the infrared light module of control shooting equipment, and this calibration device includes calibration board and heating element, according to the positional information of this heating element in the first image that visible light module was shot and the positional information of this heating element in the second image that infrared light module was shot, marks this visible light module and infrared light module, because calibration device's structure is comparatively simple, has improved and has carried out the efficiency of maring to visible light module and infrared light module.
The embodiment of the invention provides a camera calibration method. Fig. 5 is a flowchart of a camera calibration method according to another embodiment of the invention. As shown in fig. 5, on the basis of the embodiment shown in fig. 1, the method in this embodiment may further include:
step S501, according to a transformation relationship between the first image and the second image, at least one of rotation processing, scaling processing, translation processing, and cropping processing is performed on the first image and/or the second image so that a field angle of the first image is the same as a field angle of the second image, and/or a resolution of the first image is the same as a resolution of the second image.
It can be understood that, since the visible light module and the infrared light module have different viewing angles and different positions, the resolution and the viewing angle of the images respectively collected by the visible light module and the infrared light module are different, that is, the resolution and the viewing angle of the first image and the second image are different as described in the above embodiments.
In this embodiment, after the processor determines the transformation relationship between the first image and the second image, the first image and/or the second image may be further processed according to the transformation relationship.
One possible way is: and according to at least one of the rotation transformation relation, the scaling transformation relation, the translation transformation relation and the cropping transformation relation between the first image and the second image, performing at least one of corresponding rotation processing, scaling processing, translation processing and cropping processing on the first image so that the resolution and/or the field angle of the first image and the second image are the same. When at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing is performed on the first image, specifically, at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing may be performed on each pixel point in the first image.
Another possible way is: and according to at least one of the rotation transformation relation, the scaling transformation relation, the translation transformation relation and the cropping transformation relation between the first image and the second image, performing at least one of corresponding rotation processing, scaling processing, translation processing and cropping processing on the second image so that the resolution and/or the field angle of the first image and the second image are the same. When at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing is performed on the second image, specifically, at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing may be performed on each pixel point in the second image.
Yet another possible way is: and simultaneously performing at least one of rotation processing, scaling processing, translation processing and cropping processing on the first image and the second image according to at least one of a rotation transformation relation, a scaling transformation relation, a translation transformation relation and a cropping transformation relation between the first image and the second image, so that the resolution and/or the field angle of the first image and the second image are the same. When at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing is performed on the first image and the second image, specifically, at least one of the rotation processing, the zoom processing, the translation processing, and the cropping processing may be performed on each pixel point in the first image and the second image.
And S502, fusing the processed first image and the second image.
After the above steps, the first image and the second image with the same resolution and/or field angle can be obtained, and further, the first image and the second image with the same resolution and/or field angle can be fused.
In this embodiment, at least one of rotation processing, scaling processing, translation processing, and cropping processing is performed on the first image and/or the second image through the transformation relationship between the first image and the second image, so that the field angle of the first image is the same as the field angle of the second image, and/or the resolution of the first image is the same as the resolution of the second image, and further, the processed first image and the processed second image are fused, so that the accuracy of image fusion can be improved.
The embodiment of the invention provides a calibration device. Fig. 6 is a structural diagram of a calibration apparatus according to an embodiment of the present invention, and as shown in fig. 6, a calibration apparatus 60 includes: a calibration plate 61 and a heat generating component 62. The heating component is arranged on the calibration plate, and color difference exists between the calibration plate and the heating component.
Optionally, the calibration plate is a black insulation plate.
Optionally, the heating component is a preset number of white ceramic chip heat sources.
Optionally, the preset number of white ceramic chip heat sources are uniformly distributed in the calibration plate.
The specific principle and implementation manner of the calibration device provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.
This embodiment shoots calibration device simultaneously through the visible light module and the infrared light module of control shooting equipment, and this calibration device includes calibration board and heating element, according to the positional information of this heating element in the first image that visible light module was shot and the positional information of this heating element in the second image that infrared light module was shot, marks this visible light module and infrared light module, because calibration device's structure is comparatively simple, has improved and has carried out the efficiency of maring to visible light module and infrared light module.
The embodiment of the invention provides shooting equipment. Fig. 7 is a structural diagram of a photographing apparatus according to an embodiment of the present invention, and as shown in fig. 7, the photographing apparatus 70 includes: a visible light module 71, an infrared light module 72 and a processor 73; the visible light module 71 is used for collecting a visible light image; the infrared light module 72 is used for collecting an infrared light image; the processor 73 is configured to: controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate; acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment; and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
Optionally, the processor 73 is configured to, when calibrating the visible light module and the infrared light module according to the position information of the heating element in the first image and the position information of the heating element in the second image, specifically: determining a transformation relation between the first image and the second image according to the position information of the heating component in the first image and the position information of the heating component in the second image; and calibrating the visible light module and the infrared light module according to the transformation relation between the first image and the second image.
Optionally, the transformation relationship between the first image and the second image includes at least one of: a rotational transformation relationship, a scaling transformation relationship, a translation transformation relationship, a cropping transformation relationship between the first image and the second image.
Optionally, the processor 73 is further configured to: and according to the transformation relation between the first image and the second image, performing at least one of rotation processing, scaling processing, translation processing and cropping processing on the first image and/or the second image so as to enable the angle of view of the first image to be the same as that of the second image, and/or enable the resolution of the first image to be the same as that of the second image.
Optionally, the processor 73 is further configured to, after performing at least one of rotation processing, scaling processing, translation processing, and cropping processing on the first image and/or the second image according to the transformation relationship between the first image and the second image: and fusing the processed first image and the second image.
The specific principle and implementation of the shooting device provided by the embodiment of the invention are similar to those of the above embodiments, and are not described herein again.
This embodiment shoots calibration device simultaneously through the visible light module and the infrared light module of control shooting equipment, and this calibration device includes calibration board and heating element, according to the positional information of this heating element in the first image that visible light module was shot and the positional information of this heating element in the second image that infrared light module was shot, marks this visible light module and infrared light module, because calibration device's structure is comparatively simple, has improved and has carried out the efficiency of maring to visible light module and infrared light module.
In addition, the present embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the camera calibration method described in the foregoing embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (19)
1. The camera calibration method is applied to shooting equipment, wherein the shooting equipment comprises a visible light module and an infrared light module, and is characterized by comprising the following steps:
controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate;
acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment;
and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
2. The method according to claim 1, wherein the calibrating the visible light module and the infrared light module according to the position information of the heat generating component in the first image and the position information of the heat generating component in the second image comprises:
determining a transformation relation between the first image and the second image according to the position information of the heating component in the first image and the position information of the heating component in the second image;
and calibrating the visible light module and the infrared light module according to the transformation relation between the first image and the second image.
3. The method of claim 2, wherein the transformation relationship between the first image and the second image comprises at least one of:
a rotational transformation relationship, a scaling transformation relationship, a translation transformation relationship, a cropping transformation relationship between the first image and the second image.
4. A method according to claim 2 or 3, characterized in that the method further comprises:
and according to the transformation relation between the first image and the second image, performing at least one of rotation processing, scaling processing, translation processing and cropping processing on the first image and/or the second image so as to enable the angle of view of the first image to be the same as that of the second image, and/or enable the resolution of the first image to be the same as that of the second image.
5. The method according to claim 4, wherein after performing at least one of rotation processing, scaling processing, translation processing, and cropping processing on the first image and/or the second image according to the transformation relationship between the first image and the second image, the method further comprises:
and fusing the processed first image and the second image.
6. The method of any of claims 1-5, wherein there is a color difference between the calibration plate and the heat generating component.
7. The method of claim 6, wherein the calibration plate is a black insulation plate.
8. The method of claim 6, wherein the heat generating components are a preset number of white ceramic sheet heat sources.
9. The method according to claim 8, wherein the preset number of white ceramic sheet heat sources are evenly distributed in the calibration plate.
10. A calibration device, comprising: the heating component is arranged on the calibration plate, and color difference exists between the calibration plate and the heating component.
11. The calibration device according to claim 10, wherein the calibration plate is a black insulation plate.
12. The calibration device according to claim 10 or 11, wherein the heating component is a preset number of white ceramic plate heat sources.
13. The calibrating device according to claim 12, wherein the predetermined number of white ceramic plate heat sources are uniformly distributed in the calibrating plate.
14. A photographing apparatus, characterized by comprising: the device comprises a visible light module, an infrared light module and a processor;
the visible light module is used for collecting visible light images;
the infrared light module is used for collecting an infrared light image;
the processor is configured to:
controlling the visible light module and the infrared light module to shoot a calibration device at the same time, wherein the calibration device comprises a calibration plate and a heating component, and the heating component is arranged on the calibration plate;
acquiring a first image of the calibration device shot by the visible light module at any moment and a second image of the calibration device shot by the infrared light module at the moment;
and calibrating the visible light module and the infrared light module according to the position information of the heating component in the first image and the position information of the heating component in the second image.
15. The shooting device of claim 14, wherein the processor is configured to calibrate the visible light module and the infrared light module according to the position information of the heating element in the first image and the position information of the heating element in the second image, and specifically configured to:
determining a transformation relation between the first image and the second image according to the position information of the heating component in the first image and the position information of the heating component in the second image;
and calibrating the visible light module and the infrared light module according to the transformation relation between the first image and the second image.
16. The apparatus according to claim 15, wherein the transformation relationship between the first image and the second image includes at least one of:
a rotational transformation relationship, a scaling transformation relationship, a translation transformation relationship, a cropping transformation relationship between the first image and the second image.
17. The camera device of claim 15 or 16, wherein the processor is further configured to:
and according to the transformation relation between the first image and the second image, performing at least one of rotation processing, scaling processing, translation processing and cropping processing on the first image and/or the second image so as to enable the angle of view of the first image to be the same as that of the second image, and/or enable the resolution of the first image to be the same as that of the second image.
18. The camera of claim 17, wherein the processor is further configured to, after performing at least one of rotation processing, scaling processing, translation processing, and cropping processing on the first image and/or the second image according to a transformation relationship between the first image and the second image:
and fusing the processed first image and the second image.
19. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-9.
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| PCT/CN2018/118170 WO2020107320A1 (en) | 2018-11-29 | 2018-11-29 | Camera calibration method, apparatus, device and storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111915683A (en) * | 2020-07-27 | 2020-11-10 | 湖南大学 | Image position calibration method, intelligent device and storage medium |
| CN111986257A (en) * | 2020-07-16 | 2020-11-24 | 南京模拟技术研究所 | Bullet point identification automatic calibration method and system supporting variable distance |
| CN113068019A (en) * | 2021-03-17 | 2021-07-02 | 杭州海康消防科技有限公司 | Dual-optical camera calibration apparatus, method, electronic apparatus, and storage medium |
| CN113327290A (en) * | 2021-06-07 | 2021-08-31 | 深圳市商汤科技有限公司 | Binocular module calibration method and device, storage medium and electronic equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111986257A (en) * | 2020-07-16 | 2020-11-24 | 南京模拟技术研究所 | Bullet point identification automatic calibration method and system supporting variable distance |
| CN111915683A (en) * | 2020-07-27 | 2020-11-10 | 湖南大学 | Image position calibration method, intelligent device and storage medium |
| CN113068019A (en) * | 2021-03-17 | 2021-07-02 | 杭州海康消防科技有限公司 | Dual-optical camera calibration apparatus, method, electronic apparatus, and storage medium |
| CN113068019B (en) * | 2021-03-17 | 2023-02-03 | 杭州海康消防科技有限公司 | Dual-optical camera calibration apparatus, method, electronic apparatus, and storage medium |
| CN113327290A (en) * | 2021-06-07 | 2021-08-31 | 深圳市商汤科技有限公司 | Binocular module calibration method and device, storage medium and electronic equipment |
| CN113327290B (en) * | 2021-06-07 | 2022-11-11 | 深圳市商汤科技有限公司 | Binocular module calibration method and device, storage medium and electronic equipment |
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| WO2020107320A1 (en) | 2020-06-04 |
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