CN112261262B - Image calibration method and device, electronic equipment and readable storage medium - Google Patents

Abstract

The application discloses an image calibration method and device, electronic equipment and a readable storage medium, and belongs to the field of image processing. The method comprises the following steps: when image data are collected through image collection equipment, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module is obtained, wherein a plurality of camera modules in the image collection equipment comprise at least one camera pan-tilt module, and each camera pan-tilt module comprises a lens and a camera pan-tilt; acquiring at least one equivalent image offset corresponding to at least one camera holder rotation angle; determining a plurality of image real-time offsets corresponding to the plurality of camera modules according to the at least one equivalent image offset and the position distribution of the plurality of camera modules; and carrying out image calibration on the image data according to the plurality of image real-time offsets. The problem of in the correlation technique when using the anti-shake function of camera cloud platform, can't carry out effectual picture calibration to the combination picture of shooing of taking a photograph more is solved.

Description

Image calibration method and apparatus, electronic device and readable storage medium

technical field

The present application belongs to the field of image processing, and in particular relates to an image calibration method and device, an electronic device and a readable storage medium.

Background technique

At present, the camera function of mobile phones is becoming more and more important, and the number of cameras in the camera module on the mobile phone is also increasing. Multi-camera combination photography and photo stabilization technology are relatively popular photography technologies. On the one hand, the multi-camera combined photo technology can provide more powerful and rich photo functions; on the other hand, the photo stabilization technology realized by the camera gimbal can effectively improve the photo quality and photo experience.

In the process of realizing this application, the inventor found that there are at least the following problems in the related art:

The existing camera gimbal anti-shake technology is generally only used for single-camera modules to take pictures, and multi-camera module combination photos need to be calibrated, but the camera gimbal anti-shake effect causes the lens position to rotate continuously during the shooting process, which cannot be carried out. Effective multi-camera calibration. Therefore, in the related art, the camera pan/tilt is usually fixed at the center position, and the camera pan/tilt cannot be used for effective anti-shake during the photographing process.

For the above problems, no effective solution has been proposed yet.

Invention content

The purpose of the embodiments of the present application is to provide an image calibration method and device, an electronic device, and a readable storage medium, which can solve the problem that in the related art, when the anti-shake function of the camera pan/tilt is used, the multi-camera combined photographing picture cannot be effectively performed. Picture calibration problem.

In order to solve the above technical problems, this application is implemented as follows:

In a first aspect, an embodiment of the present application provides an image calibration method, the method includes: when acquiring image data through an image acquisition device, acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module, wherein, The plurality of camera modules in the image acquisition device include the at least one camera pan/tilt module, and the camera pan/tilt module includes a lens and a camera pan/tilt; obtain a rotation angle corresponding to the at least one camera pan/tilt. at least one equivalent image offset; according to the at least one equivalent image offset and the position distribution of the multiple camera modules, determine multiple real-time image offsets corresponding to the multiple camera modules; Image calibration is performed on the image data according to the plurality of image real-time offsets.

In a second aspect, an embodiment of the present application provides an image calibration apparatus, the apparatus includes: a first acquisition unit configured to acquire at least one camera corresponding to at least one camera pan-tilt module when acquiring image data through an image acquisition device The rotation angle of the camera pan/tilt, wherein the plurality of camera modules in the image acquisition device include the at least one camera pan/tilt module, and the camera pan/tilt module includes a lens and a camera pan/tilt; the second acquisition unit, for acquiring at least one equivalent image offset corresponding to the rotation angle of the at least one camera pan-tilt; a first determination unit for obtaining at least one equivalent image offset according to the at least one equivalent image offset and the plurality of camera modules The position distribution of the plurality of camera modules is used to determine the real-time offsets of multiple images corresponding to the multiple camera modules; the calibration unit is configured to perform image calibration on the image data according to the real-time offsets of the multiple images.

In a third aspect, embodiments of the present application provide an electronic device, the electronic device includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor, the program or instruction being The processor implements the steps of the image calibration method according to the first aspect when executed.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the image calibration method according to the first aspect is implemented A step of.

In a fifth aspect, an embodiment of the present application provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or an instruction, and implement the first aspect The described image calibration method.

In the embodiment of the present application, when collecting image data through an image acquisition device, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module among multiple camera modules of the image acquisition device is acquired; at least one equivalent image offset corresponding to the rotation angle of the stage; according to the at least one equivalent image offset and the position distribution of the multiple camera modules, determine multiple real-time image offsets corresponding to the multiple camera modules; Image calibration of image data with multiple image real-time offsets. Real-time image offset is determined according to the rotation angle of the camera PTZ of the camera PTZ module and the position distribution of multiple camera modules in the image acquisition device. Image data for image calibration. It solves the problem that in the related art, when the anti-shake function of the camera gimbal is used, it is impossible to perform effective picture calibration on the multi-camera combined photographing picture.

Description of drawings

1 is a schematic flowchart of an optional image calibration method in an embodiment of the present application;

2a is a schematic diagram of an optional camera pan-tilt module in an embodiment of the present application;

2b is a schematic diagram of an optional ordinary camera module in the embodiment of the present application;

3 is a schematic diagram of another optional camera pan-tilt module in the embodiment of the present application;

FIG. 4 is a schematic diagram of another optional image acquisition device in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of another optional image calibration apparatus in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of another optional electronic device in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "first", "second" and the like in the description and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that embodiments of the application can be practiced in sequences other than those illustrated or described herein. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the associated objects are in an "or" relationship.

The image calibration method provided by the embodiments of the present application will be described in detail below through specific embodiments and application scenarios with reference to the accompanying drawings.

According to an aspect of the embodiments of the present application, an image calibration method is proposed. As shown in FIG. 1 , the method may specifically include the following steps:

S102, when collecting image data through an image acquisition device, acquire at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module, wherein the plurality of camera modules in the image acquisition device include the at least one camera PTZ module, the camera PTZ module includes a lens and a camera PTZ;

S104, acquiring at least one equivalent image offset corresponding to the rotation angle of the at least one camera head;

S106, according to the at least one equivalent image offset and the position distribution of the multiple camera modules, determine multiple real-time image offsets corresponding to the multiple camera modules;

S108: Perform image calibration on the image data according to the real-time offsets of the multiple images.

In this embodiment, the camera module in the image acquisition device includes a plurality of camera pan/tilt modules as shown in FIG. 2a, or also includes a common camera module as shown in FIG. 2b. In this embodiment, The number of common camera modules is not limited. The camera pan/tilt module includes a camera pan/tilt and a lens, the lens is set on the camera pan/tilt, and the camera pan/tilt fixes the lens. In the process of collecting image data through the camera gimbal module, the image acquisition device uses the gyroscope in the camera gimbal to realize the anti-shake function of the lens. It should be noted that the multiple camera modules in this embodiment refer to the number of camera modules being two or more.

In this embodiment, after adding the anti-shake function of the camera pan/tilt during the multi-camera combination photography process, the image offset of the multi-camera combination photography changes in real time, and each image frame has a corresponding image offset. Further, the equivalent image offset is obtained from the image shift generated by the fixed lens of the camera gimbal with the movement of the camera gimbal when the camera gimbal in the camera gimbal module implements the anti-shake function. In this embodiment, the motion state of the camera pan/tilt is represented by the rotation angle of the camera pan/tilt, and the corresponding equivalent image offset is determined by the camera pan/tilt rotation angle of the camera pan/tilt module.

On the other hand, due to the positional distribution between the camera modules in the image acquisition device, a corresponding fixed image offset will also be generated. Therefore, in this embodiment, the equivalent image offset generated by the movement of the camera pan-tilt module The shift amount and the fixed image offset generated by the position distribution between the camera pan-tilt modules can determine the real-time image offset corresponding to each image frame, and then perform image calibration on the image frame.

It should be noted that, through this embodiment, the corresponding equivalent image offset is determined according to the rotation angle of the camera PTZ of the camera PTZ module, so as to correct the image offset caused by the anti-shake movement of the camera PTZ. The equivalent image offset of the camera module of the gimbal and the position distribution of multiple camera modules in the image acquisition device, determine the real-time image offset corresponding to the multiple camera modules, and then according to the camera modules in the image acquisition device The image real-time offset corresponding to the group performs image calibration on the image data. The anti-shake function of the camera pan/tilt is combined with the multi-camera combination to take pictures, and the problem that the multi-camera combination photo image cannot be effectively calibrated when the anti-shake function of the camera pan/tilt is used in the related art is solved.

Optionally, in this embodiment, when acquiring image data through an image acquisition device, acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module includes, but is not limited to: acquiring the camera pan-tilt module's rotation angle. The rotation angle of the outer bracket and the rotation angle of the inner bracket of the camera gimbal module.

In this embodiment, the camera pan/tilt in the camera pan/tilt module includes an outer bracket and an inner bracket, and the rotation angle of the camera pan/tilt includes the rotation angle of the outer bracket of the outer bracket and the rotation angle of the inner bracket of the inner bracket. During the use of the group, the rotation angle of the outer bracket and the rotation angle of the inner bracket can be obtained according to the transmission information of the image processor in the image acquisition device.

By acquiring the rotation angle of the outer bracket and the rotation angle of the inner bracket of the camera pan/tilt, the rotation angle of the camera pan/tilt of the camera pan/tilt module can be acquired, and then the motion state of the camera pan/tilt can be determined.

Optionally, in this embodiment, the gyroscope in the camera pan-tilt module includes a first rotation axis and a second rotation axis, wherein the rotation angle of the outer bracket of the camera pan-tilt module is obtained, and the inner bracket of the camera pan-tilt module is obtained. The rotation angle of the bracket, including but not limited to: obtaining the first angle of the rotation of the first shaft in the first direction to obtain the rotation angle of the outer bracket; obtaining the second angle of the rotation of the second shaft in the second direction to obtain the outer bracket Rotation angle.

Specifically, as shown in the schematic diagram of the camera pan/tilt module shown in FIG. 3 , the rotation angle values (α, β) of the camera pan/tilt in two directions corresponding to each frame of image are obtained from the camera pan/tilt module 30, α is the rotation angle of the outer bracket of the camera head, and β is the rotation angle of the inner bracket of the camera head. The rotation angle α of the outer bracket is the first angle at which the first shaft 32 of the gyroscope in the camera head rotates in the first direction, and the rotation angle β of the inner bracket is the second angle at which the second shaft 34 of the gyroscope rotates in the second direction, The first rotating shaft 32 and the second rotating shaft 34 are respectively installed according to the diagonal lines of the pan-tilt-camera module 30 . It should be noted that the rotation angle α of the outer bracket and the rotation angle β of the inner bracket respectively include a horizontal component and a vertical component.

Through the above-mentioned embodiments, the first angle of rotation of the first rotation axis of the gyroscope in the camera head and the second angle of rotation of the second rotation shaft of the gyroscope are obtained, which improves the accuracy of the obtained rotation angle of the camera head.

Optionally, in this embodiment, acquiring at least one equivalent image offset corresponding to the rotation angle of at least one camera head includes but not limited to: according to the mapping relationship between the rotation angle of the camera head and the image offset, The equivalent image offset corresponding to each of the rotation angles of the at least one camera head and head is obtained respectively.

Specifically, in this embodiment, the rotation angles of the camera pan-tilt module in the first direction and the second direction are used when acquiring the image frames in the image data to obtain the camera pan-tilt rotation angles (α, β). The functional relationship Δy=f(α, β) between the rotation angle of the stage and the image offset can determine the equivalent image offset Δy corresponding to the rotation angle of the camera head.

Through the above embodiment, according to the mapping relationship between the rotation angle of the camera head and the image offset, the equivalent image offset corresponding to each camera head rotation angle in at least one camera head rotation angle is obtained respectively, and the camera cloud can be determined. The image data offset generated during the movement of the camera head of the stage module.

Optionally, in this embodiment, before acquiring the equivalent image offset corresponding to the rotation angle of the camera head according to the mapping relationship between the rotation angle of the camera head and the image offset, the method further includes but is not limited to: When the gimbal module is in the initial position, the first image is collected; when the camera gimbal module moves to the maximum rotation angle, the second image is collected; the actual offset is determined according to the first image and the second image, and the maximum rotation The angle and the actual offset determine the mapping relationship.

In a specific application scenario, since there are subtle differences between each camera gimbal module, it is necessary to calibrate the image offset of each module and the mapping relationship corresponding to the rotation angle of the camera gimbal. The calibration is to take a first image at the initial position of the camera gimbal module, and take a second image when the camera gimbal movement module reaches the limit position, where the limit position is the maximum rotation angle of the camera gimbal. Then calculate the actual offset between the first image and the second image, and write the actual offset into the memory of the camera pan-tilt module. The memory of the camera pan-tilt module includes but is not limited to EEPROM (Electrically Erasable Programmable). read only memory, electrified erasable programmable read only memory). Then, the actual offset in the memory of the camera gimbal module is obtained, and a linear/non-linear mapping relationship Δy=f(α, β) is constructed. According to the mapping relationship, the equivalent image offset can be determined according to the rotation angle of the camera gimbal. quantity.

Through the above embodiment, the actual offset of the camera gimbal module is obtained, and then the mapping relationship is determined according to the maximum rotation angle and the actual offset of the camera gimbal module, so as to obtain the corresponding mapping relationship and the rotation angle of the camera gimbal. The equivalent image offset of .

Optionally, in this embodiment, multiple real-time image offsets corresponding to multiple camera modules are determined according to at least one equivalent image offset and the position distribution of multiple camera modules, including but not limited to: Obtain multiple fixed offsets corresponding to multiple camera modules according to the position distribution among multiple camera modules; determine multiple image real-time offsets according to at least one equivalent image offset and multiple fixed offsets quantity.

Specifically, in this embodiment, the distance between the camera pan/tilt modules will also generate a fixed image offset, so the image shift generated by the camera pan/tilt movement in the camera pan/tilt module needs to be determined. In this embodiment, a plurality of sets of corresponding fixed offsets are obtained according to the positional distribution among the multiple camera modules, and then multiple sets of fixed offsets are determined according to the equivalent image offsets and fixed offsets generated by the movement of the camera pan-tilt module. The real-time offsets of multiple images corresponding to the camera module.

In a specific application scenario, the multiple camera modules of the image acquisition device include at least one camera pan/tilt module and a common camera module, wherein, according to the position distribution among the multiple camera modules, and at least one camera cloud The position distribution between the camera module and the common camera module is obtained, and multiple fixed offsets corresponding to the camera modules in the image acquisition device are obtained; according to multiple equivalent image offsets and multiple fixed offsets, multiple fixed offsets are determined. Image realtime offset.

In one example, the image acquisition device shown in FIG. 4 includes a camera pan-tilt module 40 , a camera pan-tilt module 42 and a common camera module 44 , wherein S1 is the relative original center position of the camera pan-tilt module 40 The equivalent image offset of , S2 is the equivalent image offset of the camera gimbal module 42 relative to the original center position, R12, R23, R13 are the fixed offsets between the camera gimbal module and the ordinary camera module, respectively The fixed offset can be calculated from the installation position distribution of the camera modules. F12, F23, and F13 are the real-time image offsets between the camera modules, which can be calculated by the equivalent image offsets R12, R23 , R13 and fixed offsets S1, S2 are obtained.

和向量

通过向量减法可以求出图像实时偏移量

For example, a known vector

and vector

The real-time offset of the image can be obtained by vector subtraction

以及

本实施例在此不做赘述。Based on the same way, the real-time offset of the image can be calculated

as well as

This embodiment will not be repeated here.

Through the above embodiment, the real-time image offset corresponding to the camera modules is determined according to the equivalent image offset corresponding to the camera pan/tilt module in the image acquisition device and the fixed offset between multiple camera modules. The shift amount, which determines the actual shift amount of the image data caused by the anti-shake function of the camera's gimbal.

Optionally, in this embodiment, performing image calibration on the image data according to multiple real-time image offsets includes but not limited to: performing image cropping on the image data according to multiple real-time image offsets.

Specifically, after obtaining the real-time image offset of the multi-camera combined photographing, image calibration of the image frame is performed by image cropping based on the real-time image offset. It should be noted that after the multi-camera combination photo is added to the camera's PTZ anti-shake function, the real-time image offset of the multi-camera combination photo changes in real time, and the real-time image offset corresponding to each image frame in the image data is the same. There may be differences. In this embodiment, the real-time image offset corresponding to each image frame needs to be acquired to perform image calibration on the image frame.

Through this embodiment, when image data is collected by the image acquisition device, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module is acquired; at least one equivalent image offset corresponding to the at least one camera pan-tilt rotation angle is acquired. Offset; according to at least one equivalent image offset and the position distribution of multiple camera modules, determine multiple real-time image offsets corresponding to multiple camera modules; Image calibration. It realizes the photographing function of combining the camera pan/tilt when taking pictures in a multi-camera combination, and determines the real-time image offset according to the camera pan/tilt rotation angle of the camera pan/tilt module and the position distribution of the camera pan/tilt, and performs image calibration on the image data. It solves the problem that in the related art, when the anti-shake function of the camera gimbal is used, it is impossible to perform effective picture calibration on the multi-camera combined photographing picture.

It should be noted that, in the image calibration method provided by the embodiments of the present application, the execution body may be an image calibration device, or a control module in the image calibration device for executing the loaded image calibration method. In the embodiment of the present application, the method for performing the loaded image calibration by the image calibration apparatus is used as an example to describe the image calibration method provided by the embodiment of the present application.

According to another aspect of the embodiments of the present application, an image calibration apparatus is proposed. As shown in FIG. 5 , the image calibration may specifically include:

1) The first acquisition unit 50 is configured to acquire at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when image data is acquired by the image acquisition device, wherein a plurality of cameras in the image acquisition device The module includes the at least one camera pan/tilt module, and the camera pan/tilt module includes a lens and a camera pan/tilt;

2) a second acquisition unit 52, configured to acquire at least one equivalent image offset corresponding to the rotation angle of the at least one camera head;

3) A first determination unit 54, configured to determine the real-time offsets of multiple images corresponding to the multiple camera modules according to the at least one equivalent image offset and the position distribution of the multiple camera modules ;

4) A calibration unit 56, configured to perform image calibration on the image data according to the real-time offsets of the multiple images.

Optionally, in this embodiment, the first obtaining unit 50 includes:

1) The first acquisition module is used to acquire the rotation angle of the outer bracket of the camera pan-tilt module and the rotation angle of the inner bracket of the camera pan-tilt module.

Optionally, in this embodiment, the gyroscope in the camera pan/tilt module includes a first rotation axis and a second rotation axis, wherein the first acquisition module includes:

1) a first acquisition sub-module for acquiring the first angle of rotation of the first shaft in the first direction to obtain the rotation angle of the outer support;

2) A second acquisition sub-module, configured to acquire the second angle of rotation of the second shaft in the second direction, so as to obtain the rotation angle of the outer support.

Optionally, in this embodiment, the second obtaining unit 52 includes:

1) A second acquiring module, configured to acquire the equivalent image offset corresponding to the rotation angle of the camera pan according to the mapping relationship between the rotation angle of the camera pan and the image offset.

Optionally, in this embodiment, it also includes:

1) A first acquisition unit, configured to, before acquiring the equivalent image offset corresponding to the rotation angle of the camera head according to the mapping relationship between the rotation angle of the camera head and the image offset When the stage module is in the initial position, the first image is collected;

2) a second acquisition unit, configured to acquire a second image when the camera pan/tilt module moves to the maximum rotation angle;

3) A second determining unit, configured to determine an actual offset according to the first image and the second image, and determine the mapping relationship according to the maximum rotation angle and the actual offset.

Optionally, in this embodiment, the first determining unit 54 includes:

1) a third acquisition module, configured to acquire a plurality of fixed offsets corresponding to the plurality of camera modules according to the position distribution among the plurality of camera modules;

2) A determination module, configured to determine the real-time offsets of the multiple images according to the at least one equivalent image offset and the multiple fixed offsets.

Optionally, in this embodiment, the calibration unit 56 includes:

1) A calibration module, configured to perform image cropping on the image data according to the real-time offsets of the multiple images.

The image calibration apparatus in this embodiment of the present application may be a specific apparatus, or may be a component, an integrated circuit, or a chip in a terminal. The apparatus may be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palmtop computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (personal digital assistant). assistant, PDA), etc., the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., this application Examples are not specifically limited.

The image calibration apparatus in this embodiment of the present application may be an apparatus with an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.

The image calibration apparatus provided in the embodiment of the present application can implement each process implemented by the image calibration method in the method embodiments of FIG. 1 to FIG. 4 , and in order to avoid repetition, details are not repeated here.

Through the image calibration device proposed in this embodiment, multiple sets of camera pan-tilt rotation angles corresponding to multiple camera pan-tilt modules in the image acquisition device are obtained; multiple sets of equivalent image offset corresponding to the multiple sets of camera pan-tilt rotation angles are obtained Shift amount; according to the offset of multiple sets of equivalent images and the position distribution of multiple camera gimbal modules, determine the real-time offset of multiple sets of images corresponding to multiple camera gimbal modules; according to the real-time offset of multiple sets of images The shift amount performs image calibration on the image data. It realizes the photographing function of combining the camera pan/tilt when taking pictures in a multi-camera combination, and determines the real-time image offset according to the camera pan/tilt rotation angle of the camera pan/tilt module and the position distribution of the camera pan/tilt, and performs image calibration on the image data. It solves the problem that in the related art, when the anti-shake function of the camera gimbal is used, it is impossible to perform effective picture calibration on the multi-camera combined photographing picture.

According to another aspect of the embodiments of the present application, an image calibration apparatus is provided, and an electronic device includes a processor 610, a memory 609, a program or instruction stored in the memory 609 and executable on the processor 610, the When the program or the instruction is executed by the processor 610, each process of the method embodiment of the above-mentioned image calibration method can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

It should be noted that the electronic devices in the embodiments of the present application include the aforementioned mobile electronic devices and non-mobile electronic devices.

FIG. 6 is a schematic diagram of a hardware structure of an electronic device implementing an embodiment of the present application.

The electronic device 600 includes but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609, and a processor 610, etc. part.

Those skilled in the art can understand that the electronic device 600 may also include a power source (such as a battery) for supplying power to various components, and the power source may be logically connected to the processor 610 through a power management system, so as to manage charging, discharging, and power management through the power management system. consumption management and other functions. The structure of the electronic device shown in FIG. 6 does not constitute a limitation on the electronic device, and the electronic device may include more or less components than those shown in the figure, or combine some components, or arrange different components, which will not be repeated here. .

The sensor 605 is used for acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when collecting image data through an image acquisition device, wherein a plurality of camera modules in the image acquisition device include the at least one camera pan/tilt module, the camera pan/tilt module includes a lens and a camera pan/tilt;

The processor 610 is configured to obtain at least one equivalent image offset corresponding to the rotation angle of the at least one camera head; according to the at least one equivalent image offset and the position distribution of the plurality of camera modules , determining multiple real-time image offsets corresponding to the multiple camera modules; performing image calibration on the image data according to the multiple image real-time offsets.

It should be understood that, in this embodiment of the present application, the input unit 604 may include a graphics processor (Graphics Processing Unit, GPU) 6041 and a microphone 6042. camera) to process the image data of still pictures or videos. The display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 607 includes a touch panel 6071 and other input devices 6072 . The touch panel 6071 is also called a touch screen. The touch panel 6071 may include two parts, a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which are not described herein again. Memory 609 may be used to store software programs as well as various data, including but not limited to application programs and operating systems. The processor 610 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program, and the like, and the modem processor mainly processes wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 610.

Through the electronic device proposed in this embodiment, when image data is collected by the image acquisition device, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module among multiple camera modules of the image acquisition device is acquired; At least one equivalent image offset corresponding to the rotation angle of a camera head; according to the at least one equivalent image offset and the position distribution of the multiple camera modules, the real-time offset of multiple images corresponding to the multiple camera modules is determined Quantity; image calibration of image data based on multiple image real-time offsets. Real-time image offset is determined according to the rotation angle of the camera PTZ of the camera PTZ module and the position distribution of multiple camera modules in the image acquisition device. Image data for image calibration. It solves the problem in the related art that when the anti-shake function of the camera gimbal is used, effective picture calibration cannot be performed on the multi-camera combined photographing picture.

According to another aspect of the embodiments of the present application, a readable storage medium is further provided, and a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the method embodiment of the above image calibration method is implemented Each process can achieve the same technical effect. In order to avoid repetition, it will not be repeated here.

Wherein, the processor is the processor in the electronic device described in the foregoing embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

An embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used for running a program or an instruction to implement the method implementation of the above image calibration method In order to avoid repetition, the details are not repeated here.

It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip, or the like.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course hardware can also be used, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in a part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of this application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of this application, without departing from the scope of protection of the purpose of this application and the claims, many forms can be made, which all fall within the protection of this application.

Claims (14)

1. an image calibration method, is characterized in that, described method comprises: When acquiring image data through an image acquisition device, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module is acquired, wherein a plurality of camera modules in the image acquisition device include the at least one camera pan-tilt a module, the camera pan/tilt module includes a lens and a camera pan/tilt; acquiring at least one equivalent image offset corresponding to the rotation angle of the at least one camera gimbal; According to the at least one equivalent image offset and the positional distribution of the multiple camera modules, determine multiple real-time image offsets corresponding to the multiple camera modules; performing image calibration on the image data according to the real-time offsets of the plurality of images; According to the at least one equivalent image offset and the position distribution of the multiple camera modules, determining multiple real-time image offsets corresponding to the multiple camera modules, including: obtaining a plurality of fixed offsets corresponding to the plurality of camera modules according to the position distribution among the plurality of camera modules; determining the plurality of image real-time offsets according to the at least one equivalent image offset and the plurality of fixed offsets; The fixed offset is calculated by the installation position distribution of the camera module; The equivalent image offset is the offset of the camera pan/tilt module relative to the original center position. 2. The method according to claim 1, wherein, when collecting image data through an image acquisition device, acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module, comprising: Obtain the rotation angle of the outer bracket of the camera pan-tilt module and the rotation angle of the inner bracket of the camera pan-tilt module. 3. The method according to claim 2, wherein the gyroscope in the camera head module comprises a first rotation axis and a second rotation axis, wherein, Obtain the rotation angle of the outer bracket of the camera pan-tilt module and the rotation angle of the inner bracket of the camera pan-tilt module, including: obtaining the first angle of rotation of the first shaft in the first direction to obtain the rotation angle of the outer bracket; The second angle of rotation of the second shaft in the second direction is acquired to obtain the rotation angle of the outer bracket. 4. The method according to claim 1, wherein acquiring at least one equivalent image offset corresponding to the rotation angle of the at least one camera head comprises: According to the mapping relationship between the rotation angle of the camera head and the image offset, the equivalent image offset corresponding to each rotation angle of the camera head in the at least one camera head rotation angle is obtained respectively. 5 . The method according to claim 4 , wherein, before obtaining the equivalent image offset corresponding to the rotation angle of the camera head according to the mapping relationship between the rotation angle of the camera head and the image offset ,Also includes: when the camera pan/tilt module is at the initial position, collecting a first image; Collect a second image when the camera pan/tilt module moves to the maximum rotation angle; The actual offset is determined according to the first image and the second image, and the mapping relationship is determined according to the maximum rotation angle and the actual offset. 6. The method according to claim 1, wherein performing image calibration on the image data according to the real-time offsets of the multiple images, comprising: Image cropping is performed on the image data according to the plurality of image real-time offsets. 7. An image calibration device, wherein the device comprises: The first acquisition unit is configured to acquire at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when image data is acquired by the image acquisition device, wherein the plurality of camera modules in the image acquisition device include: the at least one camera pan/tilt module, the camera pan/tilt module includes a lens and a camera pan/tilt; a second acquiring unit, configured to acquire at least one equivalent image offset corresponding to the rotation angle of the at least one camera head; a first determining unit, configured to determine multiple real-time image offsets corresponding to the multiple camera modules according to the at least one equivalent image offset and the position distribution of the multiple camera modules; a calibration unit, configured to perform image calibration on the image data according to the real-time offsets of the multiple images; The first determining unit includes: a third obtaining module, configured to obtain a plurality of fixed offsets corresponding to the plurality of camera modules according to the position distribution among the plurality of camera modules; a determining module, configured to determine the real-time offsets of the multiple images according to the at least one equivalent image offset and the multiple fixed offsets; The fixed offset is calculated by the installation position distribution of the camera module; The equivalent image offset is the offset of the camera pan/tilt module relative to the original center position. 8. The apparatus according to claim 7, wherein the first obtaining unit comprises: The first acquisition module is used for acquiring the rotation angle of the outer bracket of the camera pan-tilt module and the rotation angle of the inner bracket of the camera pan-tilt module. 9. The device according to claim 8, wherein the gyroscope in the camera head module comprises a first rotation axis and a second rotation axis, wherein, The first acquisition module includes: a first acquisition sub-module, configured to acquire a first angle of rotation of the first shaft in a first direction to obtain a rotation angle of the outer bracket; The second obtaining sub-module is configured to obtain the second rotation angle of the second shaft in the second direction, so as to obtain the rotation angle of the outer bracket. 10. The apparatus according to claim 7, wherein the second obtaining unit comprises: The second obtaining module is configured to obtain the equivalent image offset corresponding to the rotation angle of the camera head according to the mapping relationship between the rotation angle of the camera head and the image offset. 11. The apparatus of claim 10, further comprising: The first acquisition unit is configured to, before acquiring the equivalent image offset corresponding to the rotation angle of the camera pan and tilt according to the mapping relationship between the rotation angle of the camera pan and the image offset, in the camera pan tilt model. When the group is in the initial position, acquire the first image; a second acquisition unit, configured to acquire a second image when the camera pan/tilt module moves to the maximum rotation angle; A second determining unit, configured to determine an actual offset according to the first image and the second image, and determine the mapping relationship according to the maximum rotation angle and the actual offset. 12. The apparatus of claim 7, wherein the calibration unit comprises: A calibration module, configured to perform image cropping on the image data according to the real-time offsets of the multiple images. 13. An electronic device, characterized in that it comprises a processor, a memory and a program or instruction stored on the memory and executable on the processor, the program or instruction being implemented when executed by the processor The steps of the image calibration method according to any one of claims 1-6. 14. A readable storage medium, wherein a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the image according to any one of claims 1-6 is realized Steps of the calibration method.

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