CN111462252B

CN111462252B - Method, device and system for calibrating camera device

Info

Publication number: CN111462252B
Application number: CN202010273724.9A
Authority: CN
Inventors: 曹怀豪; 孙鑫; 林根; 张裕文
Original assignee: Beijing Aibee Technology Co Ltd
Current assignee: Beijing Aibee Technology Co Ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2023-10-24
Anticipated expiration: 2040-04-09
Also published as: CN111462252A

Abstract

The application discloses a method, a device and a system for calibrating an image pickup device. Determining a target camera device from all uncalibrated camera devices by utilizing the position information set and real-time position information of calibration equipment; and when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from the first state to the second state. Therefore, whether the calibration reference image of each camera device in the scene is acquired or not can be obtained according to the calibration state of the device in the scene. In addition, the target camera device is determined by utilizing the position information set and the real-time position information of the calibration equipment, so that the order of collecting the calibration reference images of the camera device is ensured. Therefore, the technical scheme of the application improves the acquisition efficiency of the calibration reference image of the camera device, avoids repeated acquisition or acquisition omission, and further improves the calibration efficiency.

Description

Method, device and system for calibrating camera device

Technical Field

The application relates to the technical field of instrument and equipment calibration, in particular to a method, a device and a system for calibrating a camera device.

Background

With the wide application of the image capturing device, at present, a large number of image capturing devices are used for monitoring areas in many scenes, such as a market or a recreation ground. There are techniques today that track moving objects within a scene by retrieving images captured by camera devices deployed within the scene.

Calibrating the instrument is a conventional means adopted in the fields of optics, electricity, machinery and the like at present for obtaining accurate measurement results. In practical application, the accuracy of the obtained monitoring result is poor under the condition that parameters of the camera device deployed in the scene are not calibrated. For example, the movement track linking of the same object is difficult to obtain by using videos shot by two cameras adjacently disposed in a scene. Further, in the case where the parameters of the image capturing apparatus are not calibrated, there is a possibility that tracking of the moving target object fails, resulting in a decrease in safety and controllability of the scene. It can be seen that calibrating the camera is necessary and critical.

Currently, a plurality of cameras in a scene may be calibrated using a movable calibration device. The movable calibration equipment reaches the shooting area of the shooting devices in the scene, each shooting device shoots an image containing the calibration equipment, and the calibration of the shooting devices is completed through the processing of the shot image.

However, in the specific implementation process of the above technology, the problems of missing calibration and repeated calibration are easy to occur. If the calibration is missed, the calibration equipment is required to be driven to move into the shooting area of the camera device which is missed again to acquire the image, so that inconvenience is brought to the calibration task and time is wasted. If repeated calibration occurs, unnecessary time consumption is generated. How to improve the calibration efficiency of the image capturing device has become a technical problem to be solved in the art.

Disclosure of Invention

Based on the problems, the application provides a method, a device and a system for calibrating a camera device, so as to improve the calibration efficiency of a plurality of camera devices in a scene.

The embodiment of the application discloses the following technical scheme:

in a first aspect, the present application provides a method for calibrating an imaging device, applied to a handheld terminal device, the method comprising:

acquiring a position information set and real-time position information of calibration equipment; the set of location information includes: the position information of all uncollimated camera devices in the scene where the calibration equipment is located;

determining a target camera device from all uncalibrated camera devices according to the real-time position information and the position information set;

When the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from a first state to a second state; the calibration reference image of the target camera device is used for calibrating the target camera device.

Optionally, the determining a target image capturing device from the uncalibrated image capturing devices according to the real-time position information and the position information set specifically includes:

and determining an uncalibrated image pickup device closest to the real-time position of the calibration equipment according to the real-time position information and the position information set, and taking the uncalibrated image pickup device as the target image pickup device.

Optionally, the determining that the calibration reference image of the target camera device is completely acquired specifically includes:

responding to the screenshot operation, and acquiring a intercepted image of the target camera device;

transmitting the intercepted image to the calibration equipment so that the calibration equipment can perform validity detection according to the intercepted image;

receiving a validity detection result sent by the calibration equipment;

when the validity detection result indicates that the validity detection of the intercepted image passes, the intercepted image is recorded as a calibration reference image;

And when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

Optionally, before the capturing of the captured image of the target camera device, the method further includes:

responding to the screenshot operation, and sending a calibration reference object generation instruction to the calibration equipment; the calibration reference object generation instruction is used for instructing the calibration equipment to generate and display a calibration reference object;

the calibration reference image includes the calibration reference object.

Optionally, the method further comprises:

pulling the video stream of the target camera device in real time;

the responding to the screenshot operation, obtaining the intercepted image of the target camera device, specifically includes:

and responding to the screenshot operation, intercepting video frames from the video stream, and taking the video frames as the intercepted images.

Optionally, the method further comprises:

drawing a dividing line on the upper layer of a display area of the video stream to divide the display area into a plurality of sub-areas;

receiving first position information sent by the calibration equipment; the first position information indicates the position of the calibration reference object in the calibration reference image;

Drawing a calibration reference frame on the display area according to the first position information;

when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired is completed, specifically comprising:

and when each subarea comprises at least one calibration reference frame or the number of the calibration reference images of the target camera device reaches a first preset threshold value, determining that the calibration reference images of the target camera device are acquired.

Optionally, the method further comprises: and storing the first position information and/or the number of calibration reference images of the target camera device.

Optionally, after the determining a target image capturing device from the all uncalibrated image capturing devices according to the real-time position information and the position information set, the method further includes:

and sending a control instruction to the calibration equipment to instruct the calibration equipment to move to the shooting area of the target shooting device.

Optionally, the method further comprises:

updating a calibration state of the target camera from the second state to the first state in response to a recalibration instruction for the target camera;

And sending an image deleting instruction to the calibration equipment so as to instruct the calibration equipment to delete the calibration reference image of the target camera device.

Optionally, the method further comprises:

constructing a base map of the scene;

and drawing and displaying all the image pick-up devices in the scene on the base map according to the position and the calibration state.

Optionally, when it is determined that the calibration reference image of the target camera device is completely acquired, the method further includes:

sending a first packing instruction to the calibration equipment to instruct the calibration equipment to pack the calibration reference image of the target camera device;

receiving the address of a data packet corresponding to a target camera device sent by the calibration equipment;

downloading the data packet according to the address, and uploading the data packet to a cloud server so that the cloud server marks the target camera device according to the data packet;

or alternatively, the process may be performed,

and sending a second packing instruction to the calibration equipment to instruct the calibration equipment to pack the calibration reference image of the target camera device, and uploading a data packet corresponding to the target camera device to the cloud server so that the cloud server calibrates the target camera device according to the data packet.

Optionally, when it is determined that calibration reference images of all the image capturing devices in the scene are completely acquired, the method further includes:

sending a third packing instruction to the calibration equipment to instruct the calibration equipment to pack the calibration reference images of all the cameras;

receiving the address of the total data packet sent by the calibration equipment;

downloading the total data packets according to the addresses, and uploading the total data packets to a cloud server so that the cloud server marks all the camera devices according to the total data packets;

or alternatively, the process may be performed,

and sending a fourth packing instruction to the calibration equipment to instruct the calibration equipment to pack the calibration reference images of all the camera devices, and uploading the total data packets to the cloud server so that the cloud server calibrates all the camera devices according to the total data packets.

In a second aspect, the present application provides an apparatus for calibrating a camera device, applied to a handheld terminal device, where the apparatus for calibrating a camera device includes:

the position information acquisition module is used for acquiring the position information set and the real-time position information of the calibration equipment; the set of location information includes: the position information of all uncollimated camera devices in the scene where the calibration equipment is located;

The target camera device determining module is used for determining a target camera device from all uncalibrated camera devices according to the real-time position information and the position information set;

the judging module is used for judging whether the calibration reference image of the target camera device is acquired or not;

the calibration state updating module is used for updating the calibration state of the target camera device from a first state to a second state when the judgment result of the judgment module is yes; the calibration reference image of the target camera device is used for calibrating the target camera device.

Optionally, the target camera device determining module specifically includes:

and the first determining unit is used for determining an uncalibrated image pickup device closest to the real-time position of the calibrating equipment according to the real-time position information and the position information set, and taking the uncalibrated image pickup device as the target image pickup device.

Optionally, the judging module specifically includes:

the screenshot obtaining unit is used for responding to screenshot operation and obtaining a intercepted image of the target camera device;

the first sending unit is used for sending the intercepted image to the calibration equipment so that the calibration equipment can perform validity detection according to the intercepted image;

The first receiving unit is used for receiving the validity detection result sent by the calibration equipment;

the screenshot obtaining unit is further configured to record the intercepted image as a calibration reference image when the validity detection result indicates that the validity of the intercepted image passes;

the first judging unit is used for judging whether the calibration reference image of the target camera device meets preset conditions or not; and when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

Optionally, the device for calibrating the image capturing device further includes:

the first sending module is used for responding to the screenshot operation and sending a calibration reference object generation instruction to the calibration equipment; the calibration reference object generation instruction is used for instructing the calibration equipment to generate and display a calibration reference object;

the calibration reference image includes the calibration reference object.

the video stream acquisition module is used for pulling the video stream of the target camera device in real time;

the screenshot obtaining unit is specifically configured to intercept a video frame from the video stream in response to the screenshot operation, and take the video frame as the intercepted image.

the drawing module is used for drawing a dividing line at the upper layer of the display area of the video stream so as to divide the display area into a plurality of subareas;

the first receiving module is used for receiving the first position information sent by the calibration equipment; the first position information indicates the position of the calibration reference object in the calibration reference image;

the drawing module is further used for drawing a calibration reference frame on the display area according to the first position information;

the first judging unit is specifically configured to:

judging whether the first condition or the second condition meets at least one condition, and determining that the calibration reference image of the target camera device is acquired when the judgment result is yes;

the first condition is: each of the sub-regions includes at least one of the calibration reference frames; the second condition is: the number of the calibration reference images of the target camera device reaches a first preset threshold.

Optionally, the device for calibrating the image capturing device further includes: and the storage module is used for storing the first position information and/or the number of calibration reference images of the target camera device.

and the movement control module is used for sending a control instruction to the calibration equipment so as to instruct the calibration equipment to move to the shooting area of the target shooting device.

Optionally, the calibration state updating module is further configured to update the calibration state of the target camera from the second state to the first state in response to a recalibration instruction for the target camera;

the device for calibrating the camera device further comprises: and the second sending module is used for sending an image deleting instruction to the calibration equipment so as to instruct the calibration equipment to delete the calibration reference image of the target camera device.

the scene base diagram construction module is used for constructing a base diagram of the scene;

the image pickup device drawing module is used for drawing all image pickup devices in the scene on the base map according to the position and the calibration state;

and the display module is used for displaying all the image pickup devices on the base map.

Optionally, when the judging module judges that the judging result is yes, the device for calibrating the image capturing device further includes:

The third sending module is used for sending a first packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference image of the target camera device;

the second receiving module is used for receiving the address of the data packet corresponding to the target camera device sent by the calibration equipment;

the first downloading module is used for downloading the data packet according to the address;

the first uploading module is used for uploading the data packet to a cloud server so that the cloud server can calibrate the target camera device according to the data packet;

alternatively, the device for calibrating the image capturing device further includes:

and the fourth sending module is used for sending a second packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference image of the target camera device, and uploading a data packet corresponding to the target camera device to the cloud server so that the cloud server calibrates the target camera device according to the data packet.

a fifth sending module, configured to send a third packing instruction to the calibration device, so as to instruct the calibration device to pack the calibration reference images of all the image capturing devices;

The third receiving module is used for receiving the address of the total data packet sent by the calibration equipment;

the second downloading module is used for downloading the total data packets according to the address;

the second uploading module is used for uploading the total data packets to a cloud server so that the cloud server can calibrate all the camera devices according to the total data packets;

and the sixth sending module is used for sending a fourth packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference images of all the camera devices, and uploading the total data packets to the cloud server so that the cloud server calibrates all the camera devices according to the total data packets.

In a third aspect, the present application provides a system for calibrating an imaging device, comprising: calibration equipment and handheld terminal equipment; the calibration equipment is in communication connection with the handheld terminal equipment;

the calibration equipment is used for moving in the scene, moving to a shooting area of a target shooting device in the scene according to the control of the handheld terminal equipment, and generating and displaying a calibration reference object according to the control of the handheld terminal equipment;

The handheld terminal equipment is used for acquiring a position information set and real-time position information of the calibration equipment; determining the target camera device from all uncalibrated camera devices according to the real-time position information and the position information set; when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from a first state to a second state;

the calibration reference image of the target camera device is used for calibrating the target camera device;

the set of location information includes: and the position information of all uncalibrated camera devices in the scene where the calibration equipment is located.

Optionally, the system further comprises: the network video recorder NVR server is used for providing video streams of all the camera devices in the scene for the handheld terminal equipment;

the handheld terminal device is further configured to pull a video stream of the target camera device from the NVR server; responding to the screenshot operation, intercepting a video frame from a video stream of the target camera device, and taking the video frame as an intercepted image of the target device; transmitting the truncated image to the calibration device;

The calibration equipment is also used for detecting whether the intercepted image contains a calibration reference object displayed by the calibration equipment or not, and judging that the intercepted image is valid when the intercepted image is determined to contain the identifiable calibration reference object;

the handheld terminal device is further configured to receive a validity detection result sent by the calibration device, and record the intercepted image as a calibration reference image when the validity detection result indicates that the validity of the intercepted image passes; judging whether a calibration reference image of the target camera device meets a preset condition or not; and when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

Optionally, running an android system on the handheld terminal equipment;

the calibration device comprises: the first industrial control equipment runs an android system and is used for displaying the calibration reference object; the second industrial control equipment runs a Linux system, and a robot operating system ROS is built in the Linux system; the second industrial control equipment is used for feeding back real-time position information of the calibration equipment to the handheld terminal equipment, displaying the calibration reference object according to control of the handheld terminal equipment, controlling the first industrial control equipment to display the calibration reference object, and sending the effectiveness detection result to the handheld terminal equipment.

Optionally, the system further comprises: the cloud server is used for providing the position information set for the handheld terminal equipment;

the calibration device is configured to provide, to the cloud server, a data packet corresponding to the target camera device, where the data packet includes: a calibration reference image of the target camera device;

and the cloud server is used for calibrating the target camera device according to the data packet.

Compared with the prior art, the application has the following beneficial effects:

in the application, a target camera device is determined from all uncalibrated camera devices by utilizing the position information set and the real-time position information of calibration equipment; and when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from the first state to the second state. Therefore, whether the calibration reference image of each camera device in the scene is acquired or not can be obtained according to the calibration state of the device in the scene. For example, the calibration state of a certain camera device is a second state, which indicates that the calibration reference image of the camera device is already acquired, repeated acquisition is not needed, and repeated calibration of the camera device is prevented; and if the calibration state of a certain camera device is not the second state, the calibration reference image of the camera device is not acquired or is not acquired sufficiently, so that the camera device is prevented from being calibrated in a missing manner. In addition, the target camera device is determined by utilizing the position information set and the real-time position information of the calibration equipment, so that the order of collecting the calibration reference images of the camera device is ensured. Therefore, the technical scheme of the application improves the acquisition efficiency of the calibration reference image of the camera device, avoids repeated acquisition or acquisition omission, and further improves the calibration efficiency.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a flowchart of a method for calibrating an image capturing device according to an embodiment of the present application;

FIG. 2 is a flowchart of another method for calibrating an image capturing device according to an embodiment of the present application;

FIG. 3 is a scene bottom map provided by an embodiment of the present application;

FIG. 4 is a schematic drawing of the upper layer of a display area of a video stream;

fig. 5 is a schematic structural diagram of an apparatus for calibrating an image capturing apparatus according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a system for calibrating an image capturing device according to an embodiment of the present application;

FIG. 7 is a schematic diagram of another system for calibrating an image capturing device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a system for calibrating an image capturing device according to another embodiment of the present application.

Detailed Description

As described above, the calibration of the imaging device at present is easy to cause the problem of missed calibration or repeated calibration, which seriously affects the calibration efficiency. In order to solve the problem, the inventor provides a method, a device and a system for calibrating an image pickup device through research. In the application, a target camera device which is not calibrated in a scene is determined by combining a position information set and real-time position information of movable calibration equipment in the scene; and updating the calibration state of the target camera device from the first state to the second state when the calibration reference image of the target camera device is determined to be acquired. According to the application, the target camera device is determined, and the calibration reference image of the camera device is collected more orderly. In addition, the calibration state is updated after the calibration reference images are acquired, so that whether the calibration reference images of all the camera devices are acquired or not can be conveniently obtained, acquisition omission or repeated acquisition is avoided, calibration omission or repeated calibration is further avoided, and the calibration efficiency is improved.

In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

First, an application scenario of the embodiment of the present application is described. The scene can be any scene requiring calibration of the camera device, such as a recreation ground, a scenic spot, a market, a pedestrian street, and the like. A plurality of camera devices are installed in a scene, the camera devices need to be calibrated, and the calibration content can comprise: internal parameters and/or external parameters of the camera device. The internal parameters may include, but are not limited to, any of the following: lens distortion, equivalent focal length, principal point coordinates, etc. External parameters may include, but are not limited to, any of the following: the position of the imaging device, the lens direction, the imaging area range, and the like.

For the convenience of calibration, the embodiment scene further comprises: calibration equipment and handheld terminal equipment. The calibration equipment can move and display a calibration reference object, has the functions of operation and data processing, and can establish communication connection with the handheld terminal equipment. The handheld terminal device can be a portable mobile terminal device such as a mobile phone or a tablet computer, and can be held by a worker performing calibration tasks. The handheld terminal device can be held by a worker, and the handheld terminal device responds to the operation of the worker to communicate with the calibration device so as to realize the functions of the handheld terminal device.

For example, the calibration device may send its own real-time location information to the handheld terminal device; moving according to the control of the handheld terminal device; generating and displaying a calibration reference; checking the validity of the image; feeding back a validity check result of the image to the handheld terminal device; and sending the data packet address and the like to the handheld terminal equipment.

The method for calibrating an image pickup apparatus according to the present application will be described with reference to the embodiments and drawings.

Method embodiment

Referring to fig. 1, a flowchart of a method for calibrating an image capturing apparatus according to an embodiment of the present application is shown. In the embodiment of the method provided by the application, the hand-held terminal equipment in the scene is used as an execution main body for description.

As shown in fig. 1, the method for calibrating an image pickup apparatus includes:

step 101: and acquiring the real-time position information of the position information set and the calibration equipment.

In an embodiment of the present application, the location information set includes: and calibrating the position information of all uncalibrated camera devices in the scene where the equipment is located.

In one possible implementation, the set of location information includes location information of all camera devices in the scene, i.e. both calibrated and uncalibrated camera devices.

In another possible implementation, the set of position information includes only the position information of all uncalibrated cameras in the scene. In this implementation, once the imaging device involved in the set of positional information is calibrated, the positional information of the imaging device is removed from the set of positional information.

The set of location information may be in the form of a list. Generally, the position information of each camera in a scene is known prior to calibration, although calibration may be required. For example, if the cloud server includes a location information set, in this step, the handheld terminal device may obtain the location information set by communicating with the cloud server, so as to obtain location information of all uncalibrated image capturing devices in the scene.

Step 102: and determining the target camera device from all uncalibrated camera devices according to the real-time position information and the position information set.

In the embodiment of the application, in order to promote the orderly acquisition of the calibration reference images of the uncalibrated camera devices and reduce the probability of uncalibrated or repeated calibration, the target camera devices are determined from all uncalibrated camera devices according to the real-time position information of the calibration equipment and the position information set.

In one possible implementation manner, the step may determine, according to the real-time position information and the position information set of the calibration device, an uncalibrated image capturing device closest to the real-time position of the calibration device, and use the uncalibrated image capturing device as the target image capturing device, that is, the next image capturing device needing to perform calibration reference image acquisition.

It can be understood that in the above implementation manner, by taking the uncalibrated image pickup device closest to the real-time position of the calibration apparatus as the target image pickup device, the moving route of the calibration apparatus is simplified, which is equivalent to setting the moving destination area of the calibration apparatus at the current stage. After the target camera device is determined, the handheld terminal device can send a control instruction to the calibration device to instruct the calibration device to move to a shooting area of the target camera device. After the calibration equipment reaches the shooting area of the target camera device, the calibration equipment can move in the area to generate and display a calibration reference object, so that the calibration reference image of the target camera device can be conveniently acquired.

Step 103: and when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from the first state to the second state.

The calibration reference image of the target image capturing apparatus refers to an image that can be used as a data base to calibrate the target image capturing apparatus. That is, in order to calibrate the internal parameters and/or external parameters of the target image pickup device, a calibration reference image photographed by the target image pickup device is required.

In the embodiment of the application, each camera is marked with a calibration state. Because the calibration reference image needs to be collected first, the collected calibration reference image is used for calibrating the camera device after the collection is completed, in this embodiment, when the collection of the calibration reference image of a certain camera device is completed, the camera device can be calibrated smoothly by default. In this embodiment, the calibration state reflects whether the calibration reference image of the image capturing device is acquired.

For example, the calibration state of the camera device is a first state, which indicates that the calibration reference image of the camera device is not acquired; the calibration state of the camera device is a second state, which indicates that the calibration reference image of the camera device is acquired.

Therefore, in the embodiment of the present application, when the handheld terminal device determines that the calibration reference image of the target image capturing device is completely acquired, the calibration state of the target image capturing device may be updated from the first state to the second state. Therefore, a worker holding the handheld terminal device can conveniently determine whether the calibration reference image of the camera device is acquired or not by reading the calibration state of the camera device in the scene.

In the method for calibrating the image pickup apparatus provided in the above embodiment, the target image pickup apparatus is determined from all the uncalibrated image pickup apparatuses using the position information set and the real-time position information of the calibration device; and when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from the first state to the second state. Therefore, whether the calibration reference image of each camera device in the scene is acquired or not can be obtained according to the calibration state of the device in the scene.

For example, the calibration state of a certain camera device is a second state, which indicates that the calibration reference image of the camera device is already acquired, repeated acquisition is not needed, and repeated calibration of the camera device is prevented; and if the calibration state of a certain camera device is not the second state, the calibration reference image of the camera device is not acquired or is not acquired sufficiently, so that the camera device is prevented from being calibrated in a missing manner. In addition, the target camera device is determined by utilizing the position information set and the real-time position information of the calibration equipment, so that the order of collecting the calibration reference images of the camera device is ensured. Therefore, the technical scheme of the application improves the acquisition efficiency of the calibration reference image of the camera device, avoids repeated acquisition or acquisition omission, and further improves the calibration efficiency.

In the foregoing embodiments, for ease of understanding, only one target imaging device will be described. However, in practical application, after the calibration reference image of one target camera device is acquired according to the operation, the next target camera device can be continuously determined, and the process is repeated until the calibration reference images of all the camera devices in the scene are acquired, so that the calibration of a large scene and multiple camera devices can be realized.

Referring to fig. 2, a flowchart of another method for calibrating an image capturing apparatus according to an embodiment of the present application is shown.

As shown in fig. 2, the method includes:

step 201: and acquiring the real-time position information of the position information set and the calibration equipment.

Step 202: and determining the target camera device from all uncalibrated camera devices according to the real-time position information and the position information set.

The implementation manner of the steps 201 to 202 is substantially the same as that of the steps 101 to 102 in the foregoing embodiments, and the description of the steps 201 to 202 may refer to the foregoing embodiments and will not be repeated herein.

Step 203: and responding to the screenshot operation, and acquiring a intercepted image of the target camera device.

In this step, the screenshot operation may specifically be provided by a worker holding the handheld terminal device. In one possible implementation manner, a screenshot function module is displayed on a screen of the handheld terminal device, and a worker clicks the screenshot function module to obtain a screenshot operation. In another possible implementation manner, the handheld terminal device includes a key or a key combination corresponding to the screenshot operation, and the operator presses the key or presses the key combination, that is, the screenshot operation. It should be understood that the foregoing is merely an example form of the screenshot operation, and the screenshot operation may be implemented in other manners in practical applications, so the specific implementation form of the screenshot operation is not limited herein.

The network video recorder (English full name: network Video Recorder, english abbreviation: NVR) server has an intranet IP address and opens an extranet access address. The handheld terminal device pulls the video stream to each camera from the NVR server. Specifically, the handheld terminal device may implement pulling of the video stream of the target camera; in response to the screenshot operation, video frames are truncated from the video stream, the video frames being taken as truncated images.

In one possible implementation manner, a worker views a video stream captured by the played target camera through the handheld terminal device, and when the calibration device is found to have moved into the capturing area of the target camera, a screenshot operation can be performed.

In addition, before the captured image of the target camera device is acquired in this step, the handheld terminal device may also send a calibration reference object generation instruction to the calibration device in response to the screenshot operation. In one possible implementation, the calibration device comprises two industrial control devices, wherein a first industrial control device is used for displaying the calibration reference object, and the calibration device uses a second industrial control device to realize communication with the handheld terminal device. As an example, the first industrial control device may be a tablet computer or other device with a large screen; the second industrial control device may have a data processing function, and the processor thereof can implement a preset algorithm, such as an image validity detection algorithm, when running a program.

In the initial stage of calibration data acquisition, a first calibration device is started, an application program for displaying a calibration reference object is automatically adjusted, and a connection network is automatically monitored. When the system is connected to a calibration network, the system automatically jumps to a calibration page, registers ROS node communication and enters a ready state. The handheld terminal device is also connected to the calibration network, registering ROS node communications. The first industrial control equipment, the second industrial control equipment and the handheld terminal equipment all communicate through the ROS.

The second industrial control device of the calibration device may randomly generate the calibration reference object in real time according to the calibration reference object generation instruction. As an example, the calibration reference may be a two-dimensional code, bar code, or other pattern. The specific implementation form of the calibration reference is not limited herein. After the reference object is generated, the second industrial control equipment sends a message for displaying the calibration reference object to the first industrial control equipment, so that the second industrial control equipment displays the calibration reference object generated by the first industrial control equipment according to the message.

The purpose of this step to obtain the truncated image is to identify whether it is a valid calibration reference image. The calibration reference image should contain calibration references generated and displayed by the calibration device. Because the calibration reference image acquired must be based on the calibration reference presented by the calibration device, it will be appreciated that the calibration reference image is acquired at the same time as the calibration reference is presented, or after the calibration reference is presented. Because the calibration reference object is generated, displayed and the intercepted image is acquired after the screenshot operation is responded, the operation of acquiring the intercepted image can be delayed in order to ensure that the acquired intercepted image is effective as much as possible. Thus, the time synchronization of the acquisition of the intercepted image by the handheld terminal device and the display of the calibration reference object by the calibration device is ensured.

Step 204: and sending the intercepted image to the calibration equipment so that the calibration equipment can perform validity detection according to the intercepted image.

In the step, the handheld terminal equipment sends the intercepted image acquired in the previous step to the calibration equipment. In one possible implementation, the calibration device acquires 1420 encoded video stream single frame data (gray data) at a previous step at preset time intervals (e.g., 1 second). Since the second industrial control device of the calibration device is provided with a robot operating system (English full name: robot Operating System, english abbreviation: ROS), the handheld terminal device can send the gray data to the second industrial control device of the calibration device through ROS communication.

The second industrial control device of the calibration device in this embodiment may detect and identify the image, for example, detect and identify whether the image includes the calibration reference object, and send the validity detection result to the handheld terminal device. If the calibration reference object is contained, the validity detection result sent by the calibration equipment indicates that the validity detection of the intercepted image passes; if the calibration reference object is not contained, the validity detection result sent by the calibration equipment indicates that the validity detection of the intercepted image fails. In addition, if the intercepted image contains the calibration reference object, the second industrial control device of the calibration device can also identify the position information (hereinafter referred to as first position information) of the calibration reference object in the intercepted image. The first position information effectively intercepts the position of the marked reference object in the image. In addition, the calibration equipment can also count the number of effective screenshot images of the target camera device. For example, every time the calibration device detects and recognizes a valid truncated image, i.e., 1 is added.

Step 205: and receiving a validity detection result sent by the calibration equipment.

In the step, the handheld terminal equipment receives the validity detection result of the calibration equipment on the intercepted image. In addition, if the validity detection result indicates that the validity detection is passed, the handheld terminal device may further receive first position information associated with the intercepted image, which is provided by the calibration device. In addition, the handheld terminal device can also receive the number of the effective intercepted images (namely the calibration reference images) of the target camera device.

In addition, the handheld terminal device may store the first location information and the number of calibration reference images synchronously. For example, the handheld terminal device operates an android system, and the android system itself has a database, and the data is stored in the database for local storage.

It will be appreciated that during the process of the staff acquiring images using the handheld terminal device and the calibration device, the acquisition may be interrupted for rest or other reasons. Through the quantity and the first position information of the calibration reference images of the local storage target camera device, continuous collection after interruption can be facilitated, excessive or missing collection of collected images is prevented, and therefore calibration efficiency is improved, and intelligent calibration experience of staff is improved.

Step 206: and when the validity detection result indicates that the validity detection of the intercepted image passes, the intercepted image is recorded as a calibration reference image.

That is, when the calibration apparatus detects and recognizes that the captured image is effective, that is, the captured image is indicated as being usable for calibrating the target image pickup device. The truncated image that passes the detection may be used as a calibration reference image.

Step 207: and when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

To facilitate an understanding of this step, the following description is provided in connection with fig. 3 and 4. FIG. 3 is a scene bottom map provided by an embodiment of the application. Fig. 4 is a schematic drawing of an upper layer of a display area of a video stream according to an embodiment of the present application.

As shown in fig. 3, a base map of the scene is pre-constructed prior to image acquisition. The base map may be a mesh map, etc., and the embodiment does not limit the effect of the drawn base map and the tool for drawing the base map. All the image capturing devices are plotted on the base map according to the position and calibration state (such as the first state and the second state) of each image capturing device in the scene. The camera device has at least two attributes, one is a position attribute, namely the position in the scene bottom map; and secondly, the attribute of the calibration state is that whether the calibration reference image of the camera device is acquired or not. The attributes can be displayed in the base map, and further, a worker can know the approximate position and the calibration state of each camera device in a scene shown in the base map by looking at the base map.

In addition, the handheld terminal device can also draw the mark representing the calibration device on the base map in real time according to the real-time position information and the angle information sent by the calibration device. The indication may be a small arrow, the direction of which points in the direction of movement of the calibration device. The handheld terminal device may also operate the selected target camera device in response to a selection by the worker. For example, among the imaging apparatuses whose calibration state is the first state, the imaging apparatus closest to the small arrow is the target imaging apparatus.

A dividing line may be drawn at an upper layer of a display area of a video stream of the target image pickup apparatus. The dividing line is used to divide the display area into a plurality of sub-areas 401. As shown in fig. 4, the display area is divided into 9 sub-areas. Since the handheld terminal device receives the first position information from the calibration device, the calibration reference frame 402 can be drawn in the display area according to the position of the calibration reference indicated by the first position information.

It should be noted that the sub-areas may be divided according to areas or positions. For example, the divided 9 sub-areas are equal in area. Therefore, the area of each area is ensured to be as uniform as possible, and the handheld terminal equipment can acquire the calibration reference images of the calibration reference objects which are distributed as uniformly as possible when the calibration equipment displays the calibration reference objects in a plurality of uniform subareas.

The possible implementation manner provided by the embodiment of the application based on the step 207 is as follows:

and when each sub-area comprises at least one calibration reference frame or the number of the calibration reference images of the target camera device reaches a first preset threshold value, determining that the calibration reference images of the target camera device are acquired.

Taking fig. 4 as an example, when each sub-area 401 includes at least one calibration reference frame 402, it may be determined that the calibration reference image of the target image capturing device is completely acquired, that is, at least 9 valid captured images are acquired as the calibration reference images.

The first preset threshold may be set according to a scene or a calibration accuracy requirement. For example, if the scene is clear and the number of obstacles is small, a first preset threshold value can be set to be high; if there are more obstacles in the scene (e.g. seats, potted plants, infrastructure), a lower first preset threshold may be set. In addition, if the requirement on the calibration precision is high, a first higher preset threshold value can be set; if the requirement on the calibration precision is low, a first preset threshold value which is low can be set. The first preset threshold is 15 as an example.

Step 208: and updating the calibration state of the target camera device from the first state to the second state.

The implementation manner of step 208 is substantially the same as that of step 103 in the foregoing embodiment, and the description of step 208 may refer to the foregoing embodiment and will not be repeated here.

As can be seen from the interfaces shown in fig. 3 and fig. 4, the screen capturing function module a, the selection module B and the calibration completion module C are disposed around the display area of the base map or the video stream. The screenshot function module A responds to screenshot operation of a worker; the selection module B selects, for example, a certain image pickup apparatus as a target image pickup apparatus in response to a selection operation by a worker; and the completion calibration module C responds to the completion calibration operation of the staff to stop the image acquisition of a certain camera device in the scene.

As shown in fig. 3 and 4, the interface further includes a recalibration module D, which responds to a recalibration instruction for the target camera. That is, after the calibration reference image of the target camera device is acquired, if the operator applies a recalibration operation to the recalibration module D after the calibration state of the target camera device has been updated to the second state, it is equivalent to providing a recalibration instruction for the target camera device, and updating the calibration state of the target camera device from the second state to the first state. In addition, the handheld terminal device sends an image deleting instruction to the calibration device, and the calibration reference image of the target camera device reserved in the calibration device in the previous image acquisition, detection and identification links is deleted.

That is, in the embodiment of the present application, the image pickup apparatus that has already collected the calibration reference image may be re-collected according to the operation of the worker, thereby re-calibrating the image pickup apparatus.

In practical application, a first list can be established for the camera device in the first state; a second list may be established for the camera device in the second state. After triggering recalibration, the camera device is transferred from the second list to the first list, and when calibration reference images of the camera device are acquired, the camera device is transferred from the first list to the second list. As shown in fig. 3 and 4, selecting the first list displays IP addresses of all the image capturing apparatuses whose calibration states are the first states; and selecting the second list to display the IP addresses of all the image pickup devices with the calibration states of the second state. In fig. 3, the first state and the second state of the image pickup apparatus show different effects, for example, the image pickup apparatuses 301 and 302 are image pickup apparatuses in the first state; the imaging device 303 is an imaging device in the second state.

In addition, in the interfaces shown in fig. 3 and 4, the number of captured images for a certain selected image capturing device and the number of effective images (i.e., calibration reference images) therein are displayed.

In the method provided in the above embodiment, when it is determined that the calibration reference object of the target image capturing device is collected, the calibration reference image may also be directly or indirectly uploaded by the calibration device, so as to achieve calibration by using the calibration reference images:

the first implementation mode: and uploading the calibration equipment indirectly. In particular, the handheld terminal device is used as an intermediary. The handheld terminal equipment sends a first packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference image of the target camera device; receiving an address of a data packet corresponding to a target camera device sent by calibration equipment; and downloading the data packet according to the address, and uploading the data packet to a cloud server so that the cloud server marks the target camera device according to the data packet.

The second implementation mode: the calibration equipment is directly uploaded. The handheld terminal equipment sends a second packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference image of the target camera device, and the data packet corresponding to the target camera device is uploaded to the cloud server so that the cloud server calibrates the target camera device according to the data packet.

In the first and second implementation manners, the data can be packed and uploaded after the calibration reference image of one camera device is acquired, so that the real-time calibration of the calibration camera device is realized. In addition, after the calibration reference images of all the image capturing devices are acquired, the calibration reference images can be packaged and uploaded uniformly, and the following third and fourth implementation modes are specifically referred to.

Third implementation: and uploading the calibration equipment indirectly. In particular, the handheld terminal device is used as an intermediary. The handheld terminal equipment sends a third packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference images of all the camera devices; receiving the address of the total data packet sent by the calibration equipment; and downloading the total data packet according to the address, and uploading the total data packet to the cloud server so that the cloud server marks all the camera devices according to the total data packet.

Fourth implementation: the calibration equipment is directly uploaded. The handheld terminal device sends a fourth packing instruction to the calibration device to instruct the calibration device to pack the calibration reference images of all the camera devices, and the total data packet is uploaded to the cloud server, so that the cloud server calibrates all the camera devices according to the total data packet.

In the third and fourth implementation manners, the calibration reference image of each camera device in the total data packet may be distinguished according to the unique identifier of the camera device, and then packaged separately, and summarized into the total data packet.

In addition, in practical application, if the calibration device or the handheld terminal device has the function of calibrating the camera device according to the calibration reference image, the calibration device or the handheld terminal device can also calibrate, rather than uploading to the cloud server for calibration.

In the existing calibration scheme, the acquisition and processing processes of calibration data are separated. For example, after data collection, the data needs to be manually copied by taking the hard disk to the NVR server and then brought back to the data for processing. However, in this method, data needs to be collected first, then copied, and then processed, which is time-consuming and labor-consuming. In the scheme provided by the embodiment of the application, the video stream of the camera device is pulled in real time and can be processed in real time, special manual copying of data is not needed, the calibration time is saved, the burden of manual operation is reduced, and the calibration process is convenient and quick. The video stream is pulled without affecting the processing of other tasks.

In the existing calibration scheme, a worker cannot know whether the camera device is available (whether the camera device fails) in the process of acquiring calibration data, and cannot select a calibration position (namely, a display position of a calibration reference object in the process of acquiring the calibration data). In combination with the above description, in the embodiment of the present application, a worker may view the calibration state and video stream of the target camera device through the handheld terminal device, and may also control the calibration device to move to a specific sub-area through the drawn calibration reference frame, so as to collect the captured image. Therefore, the real-time controllability is obviously improved in the process of calibration data acquisition.

Based on the method for calibrating the image pickup device provided by the embodiment, correspondingly, the application further provides a device for calibrating the image pickup device. The following description is made with reference to the embodiments and the accompanying drawings.

Device embodiment

Referring to fig. 5, a schematic diagram of a device 500 for calibrating an image capturing device according to an embodiment of the present application is shown. The apparatus 500 is applied to a handheld terminal device in a scene.

As shown in fig. 5, the apparatus 500 for calibrating an image pickup apparatus includes:

a location information obtaining module 501, configured to obtain a location information set and real-time location information of a calibration device; the set of location information includes: calibrating position information of all uncollimated camera devices in a scene where the equipment is located;

a target camera determining module 502, configured to determine a target camera from all uncalibrated cameras according to the real-time location information and the location information set;

a judging module 503, configured to judge whether the calibration reference image of the target camera is acquired;

a calibration state updating module 504, configured to update the calibration state of the target camera from the first state to the second state when the determination result of the determining module 503 is yes; the calibration reference image of the target camera is used for calibrating the target camera.

In the apparatus 500 provided in the above embodiment, the target image capturing apparatus is determined from all the uncalibrated image capturing apparatuses using the set of position information and the real-time position information of the calibration device; and when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from the first state to the second state. Therefore, whether the calibration reference image of each camera device in the scene is acquired or not can be obtained according to the calibration state of the device in the scene. For example, the calibration state of a certain camera device is a second state, which indicates that the calibration reference image of the camera device is already acquired, repeated acquisition is not needed, and repeated calibration of the camera device is prevented; and if the calibration state of a certain camera device is not the second state, the calibration reference image of the camera device is not acquired or is not acquired sufficiently, so that the camera device is prevented from being calibrated in a missing manner. In addition, the target camera device is determined by utilizing the position information set and the real-time position information of the calibration equipment, so that the order of collecting the calibration reference images of the camera device is ensured. Therefore, the device 500 provided by the technical scheme of the application improves the acquisition efficiency of the calibration reference image of the camera device, avoids repeated acquisition or acquisition omission, and further improves the calibration efficiency.

Optionally, the target camera determining module 502 in the apparatus 500 specifically includes:

and the first determining unit is used for determining an uncalibrated image pickup device closest to the real-time position of the calibrating equipment according to the real-time position information and the position information set, and taking the uncalibrated image pickup device as a target image pickup device.

By taking an uncalibrated image pickup device closest to the real-time position of the calibration equipment as a target image pickup device, the moving route of the calibration equipment is simplified, which is equivalent to setting the moving destination area of the calibration equipment in the current stage.

Optionally, the determining module 503 in the apparatus 500 specifically includes:

the screenshot obtaining unit is used for responding to the screenshot operation and obtaining a intercepted image of the target camera device;

the first sending unit is used for sending the intercepted image to the calibration equipment so that the calibration equipment can carry out validity detection according to the intercepted image;

the screenshot obtaining unit is also used for marking the intercepted image as a calibration reference image when the validity detection result indicates that the validity of the intercepted image passes;

the first judging unit is used for judging whether the calibration reference image of the target camera device meets the preset condition or not; and when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

Optionally, the apparatus 500 further includes:

the calibration reference image includes a calibration reference.

Optionally, the apparatus 500 further includes:

the screenshot obtaining unit is specifically configured to intercept a video frame from the video stream in response to the screenshot operation, and take the video frame as an intercepted image.

Optionally, the apparatus 500 further includes:

the drawing module is used for drawing a dividing line at the upper layer of the display area of the video stream so as to divide the display area into a plurality of sub-areas;

the drawing module is also used for drawing a calibration reference frame on the display area according to the first position information;

the first judging unit is specifically configured to:

The first condition is: each sub-region includes at least one calibration reference frame; the second condition is: the number of calibration reference images of the target camera device reaches a first preset threshold.

Optionally, the apparatus 500 further includes: and the storage module is used for storing the first position information and/or the number of calibration reference images of the target camera device.

Optionally, the apparatus 500 further includes: and the movement control module is used for sending a control instruction to the calibration equipment so as to instruct the calibration equipment to move to the shooting area of the target shooting device.

Optionally, the calibration state updating module 504 in the apparatus 500 is further configured to update the calibration state of the target camera from the second state to the first state in response to a recalibration instruction for the target camera;

the apparatus 500 further includes: the second sending module is used for sending an image deleting instruction to the calibration equipment so as to instruct the calibration equipment to delete the calibration reference image of the target camera device.

Optionally, the apparatus 500 further includes:

the scene base map construction module is used for constructing a base map of a scene;

the image pickup device drawing module is used for drawing all image pickup devices in a scene on the base map according to the position and the calibration state;

Optionally, when the determination result of the determination module 503 is yes, the apparatus 500 for calibrating an image capturing apparatus further includes:

the first uploading module is used for uploading the data packet to the cloud server so that the cloud server can calibrate the target camera device according to the data packet;

alternatively, the apparatus 500 for calibrating an image pickup apparatus further includes:

the fourth sending module is used for sending a second packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference image of the target camera device, and uploading a data packet corresponding to the target camera device to the cloud server so that the cloud server calibrates the target camera device according to the data packet.

When the judgment result of the judgment module 503 is yes, the apparatus 500 for calibrating an image capturing apparatus further includes:

the fifth sending module is used for sending a third packing instruction to the calibration equipment so as to instruct the calibration equipment to pack the calibration reference images of all the camera devices;

the second downloading module is used for downloading the total data packet according to the address;

the second uploading module is used for uploading the total data packet to the cloud server so that the cloud server can calibrate all the camera devices according to the total data packet;

the sixth sending module is configured to send a fourth packing instruction to the calibration device, so as to instruct the calibration device to pack the calibration reference images of all the image capturing devices, and upload the total data packet to the cloud server, so that the cloud server calibrates all the image capturing devices according to the total data packet.

The application further provides a system for calibrating the camera device based on the method and the device for calibrating the camera device. The following description is made with reference to the embodiments and the accompanying drawings.

System embodiment

Referring to fig. 6, a schematic structural diagram of a system 600 for calibrating an image capturing device according to an embodiment of the present application is shown.

As shown in fig. 6, in this system 600, there are included: a calibration device 601 and a handheld terminal device 602. The calibration device 601 is communicatively connected to the handheld terminal device 602. Wherein the calibration device 601 may be a mobile robot. The handheld terminal device 602 may be a portable terminal device with a display such as a cell phone or tablet computer.

The calibration device 601 is configured to move in a scene, move to a shooting area of a target camera in the scene according to control of the handheld terminal device 602, and generate and display a calibration reference object according to control of the handheld terminal device 602. As an example, the calibration reference may be a two-dimensional code or a bitmap

The handheld terminal device 602 is configured to acquire a set of location information and real-time location information of the calibration device 601; determining a target camera device from all uncalibrated camera devices according to the real-time position information and the position information set; when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from a first state to a second state;

the set of location information includes: the location information of all uncalibrated cameras in the scene where the calibration device 601 is located.

In the method embodiments and the apparatus embodiments described above, the information interaction manner between the calibration device 601 and the handheld terminal device 602 has been described, so that details are not repeated here, and the related content can be found in the foregoing embodiments.

The system 600 provided by the application can acquire calibration reference images of the camera device more orderly by determining the target camera device. In addition, the calibration state is updated after the calibration reference images are acquired, so that whether the calibration reference images of all the camera devices are acquired or not can be conveniently obtained, acquisition omission or repeated acquisition is avoided, calibration omission or repeated calibration is further avoided, and the calibration efficiency is improved.

As shown in fig. 7, optionally, a system 700 for calibrating an image capturing apparatus is further provided, where the system 700 further includes: a network video recorder NVR server 603 for providing video streams of respective camera devices in the scene to the handheld terminal device 602;

the handheld terminal device 602 is further configured to pull a video stream of the target camera from the NVR server 603; in response to the screenshot operation, intercepting a video frame from a video stream of the target camera device, and taking the video frame as an intercepted image of the target device; transmitting the truncated image to the calibration device 601;

the calibration device 601 is further configured to detect whether the intercepted image includes a calibration reference object displayed by itself, and determine that the intercepted image is valid when it is determined that the intercepted image includes an identifiable calibration reference object;

the handheld terminal device 602 is further configured to receive a validity detection result sent by the calibration device 601, and record the intercepted image as a calibration reference image when the validity detection result indicates that the validity of the intercepted image passes; judging whether a calibration reference image of the target camera device meets a preset condition or not; and when the calibration reference image of the target camera device meets the preset condition, determining that the calibration reference image of the target camera device is acquired.

Optionally, an android system is run on the handheld terminal device 602;

in a system 800 for calibrating an image pickup apparatus as shown in fig. 8, a calibration device includes: the system comprises first industrial control equipment 6011 and second industrial control equipment 6012, wherein the first industrial control equipment 6011 operates an android system and is used for displaying a calibration reference object; the second industrial control equipment 6012 runs a Linux system, and a robot operating system ROS is built in the Linux system; the second industrial control device 6012 is configured to feed back real-time position information of the calibration device to the handheld terminal device 602, display a calibration reference object according to control of the handheld terminal device 602, control the first industrial control device 6011 to display the calibration reference object, and send a validity detection result to the handheld terminal device 602.

The first industrial control device 6011 is fixed on the calibration device, and displays the calibration reference object through a display screen of the first industrial control device 6011. The second industrial control device 6012 is simply referred to as an algorithm side. In addition, the calibration device can also comprise a moving mechanism, such as a roller, a motor and the like.

In the system 800 shown in fig. 8, further including: the cloud server 801 is configured to provide a set of location information to the handheld terminal device 602;

the second industrial control device 6012 of the calibration device is configured to provide, to the cloud server 801, a data packet corresponding to the target camera device, where the data packet includes: calibrating a reference image of the target camera device;

The cloud server 801 is configured to calibrate a target camera according to the data packet.

In addition, the second industrial control device 6012 of the calibration device may also send the handheld terminal device 602 a package address for the image data, so that the handheld terminal device 602 downloads the data packet according to this address. After the handheld terminal device 602 downloads the data packet, the data packet is uploaded to the cloud server 801, so that the cloud server 801 performs calibration (including calibrating internal parameters and/or external parameters) on the camera device by using the image data in the data packet.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. In particular, for the apparatus and system embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, with reference to the description of the method embodiments in part. The above-described apparatus and system embodiments are merely illustrative, in which elements illustrated as separate elements may or may not be physically separate, and elements illustrated as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

The foregoing is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of calibrating an imaging device, for use with a handheld terminal device, the method comprising:

when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from a first state to a second state; the calibration reference image of the target camera device is used for calibrating the target camera device; the calibration reference image of the target camera device is a intercepted image of the target camera device which passes through the effectiveness detection and meets the preset condition.

2. The method according to claim 1, wherein said determining a target camera from said all uncalibrated cameras based on said real-time location information and said set of location information, comprises:

3. The method according to claim 1, wherein determining that the calibration reference image of the target camera device is acquired comprises:

receiving a validity detection result sent by the calibration equipment;

4. A method according to claim 3, wherein prior to said capturing an intercepted image of the target camera, the method further comprises:

the calibration reference image includes the calibration reference object.

5. A method according to claim 3, further comprising:

pulling the video stream of the target camera device in real time;

6. The method of claim 5, wherein the method further comprises:

receiving first position information sent by the calibration equipment; the first position information indicates the position of a calibration reference object in the calibration reference image;

7. The method of claim 1, wherein after said determining a target camera from said all uncalibrated cameras based on said real-time location information and said set of location information, said method further comprises:

8. The method of any one of claims 1-7, further comprising:

9. The method of any one of claims 1-7, further comprising:

constructing a base map of the scene;

10. The method of any of claims 1-7, wherein when it is determined that the calibration reference image of the target camera device is acquired, the method further comprises:

or alternatively, the process may be performed,

11. The method of any of claims 1-7, wherein when it is determined that calibration reference images for all cameras in the scene are acquired, the method further comprises:

or alternatively, the process may be performed,

12. An apparatus for calibrating a camera device, applied to a handheld terminal device, the apparatus for calibrating a camera device comprising:

the calibration state updating module is used for updating the calibration state of the target camera device from a first state to a second state when the judgment result of the judgment module is yes; the calibration reference image of the target camera device is used for calibrating the target camera device; the calibration reference image of the target camera device is a intercepted image of the target camera device which passes through the effectiveness detection and meets the preset condition.

13. A system for calibrating an imaging device, comprising: calibration equipment and handheld terminal equipment; the calibration equipment is in communication connection with the handheld terminal equipment;

the calibration equipment is used for moving in a scene, moving to a shooting area of a target shooting device in the scene according to the control of the handheld terminal equipment, and generating and displaying a calibration reference object according to the control of the handheld terminal equipment;

The handheld terminal equipment is used for acquiring a position information set and real-time position information of the calibration equipment; determining the target camera device from all uncalibrated camera devices according to the real-time position information and the position information set; when the calibration reference image of the target camera device is determined to be acquired, updating the calibration state of the target camera device from a first state to a second state; the calibration reference image of the target camera device is an intercepted image of the target camera device which passes through the validity detection and meets the preset condition;

14. The system of claim 13, further comprising: the network video recorder NVR server is used for providing video streams of all the camera devices in the scene for the handheld terminal equipment;

the handheld terminal device is further configured to pull a video stream of the target camera device from the NVR server; in response to a screenshot operation, intercepting a video frame from a video stream of the target camera device, and taking the video frame as an intercepted image of the target device; transmitting the truncated image to the calibration device;

15. The system of claim 14, wherein the handheld terminal device is configured to operate an android system;

16. The system according to any one of claims 13-15, further comprising: the cloud server is used for providing the position information set for the handheld terminal equipment;