CN112261262B - Image calibration method and device, electronic equipment and readable storage medium - Google Patents
Image calibration method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN112261262B CN112261262B CN202011134095.8A CN202011134095A CN112261262B CN 112261262 B CN112261262 B CN 112261262B CN 202011134095 A CN202011134095 A CN 202011134095A CN 112261262 B CN112261262 B CN 112261262B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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
Technical Field
The application belongs to the field of image processing, and particularly relates to an image calibration method and device, electronic equipment and a readable storage medium.
Background
At present, the mobile phone photographing function is more and more important, the number of cameras in a camera module on the mobile phone is more and more, and the multi-photographing combination photographing and photographing anti-shake technology is a relatively popular photographing technology. On one hand, the multi-shooting combined shooting technology can provide more powerful and rich shooting functions; on the other hand, the shooting anti-shake technology realized through the camera holder can effectively improve the shooting quality and the shooting experience.
In the process of implementing the present application, the inventors found that at least the following problems exist in the related art:
the existing camera pan-tilt anti-shake technology is generally only used for photographing by a single photographing module, and the combination of a plurality of photographing modules needs to be subjected to picture calibration, but the camera pan-tilt anti-shake function in the photographing process causes the position of a lens to continuously rotate, and effective picture calibration for a plurality of photographing can not be carried out. Therefore, in the related art, the camera pan/tilt is usually fixed at a central position, and the camera pan/tilt cannot be effectively used for anti-shake during photographing.
In view of the above problems, no effective solution has been proposed.
Summary of the invention
An object of the embodiments of the present application is to provide an image calibration method and apparatus, an electronic device, and a readable storage medium, which can solve the problem in the related art that effective picture calibration cannot be performed on a multi-shot combined photographed picture when an anti-shake function of a camera platform is used.
In order to solve the technical problem, the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides an image calibration method, including: 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 the at least one camera pan-tilt module, and the camera pan-tilt module comprises 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 holder; 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.
In a second aspect, an embodiment of the present application provides an image calibration apparatus, including: the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when image data is acquired through image acquisition equipment, a plurality of camera modules in the image acquisition equipment comprise the at least one camera pan-tilt module, and the camera pan-tilt module comprises a lens and a camera pan-tilt; a second obtaining unit, configured to obtain at least one equivalent image offset corresponding to the at least one camera pan-tilt rotation angle; the first determining unit is used for 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 the calibration unit is used for carrying out image calibration on the image data according to the plurality of image real-time offsets.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and when executed by the processor, the program or instructions implement the steps of the image calibration method according to the first aspect.
In a fourth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the image calibration method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the image calibration method according to the first aspect.
In the embodiment of the application, when image data is acquired through image acquisition equipment, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module in a plurality of camera modules of the image acquisition equipment is acquired; 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 camera module is used for combining the shooting function of the camera holder when shooting the multi-shooting combination, determining the real-time image offset according to the camera holder rotation angle of the camera holder module and the position distribution of the camera modules in the image acquisition equipment, and performing image calibration on image data. 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.
Drawings
FIG. 1 is a schematic flow chart diagram of an alternative image calibration method in an embodiment of the present application;
FIG. 2a is a schematic view of an alternative camera pan/tilt head module according to an embodiment of the present disclosure;
FIG. 2b is a schematic diagram of an alternative general camera module in an embodiment of the present application;
FIG. 3 is a schematic view of yet another alternative camera pan/tilt module in an embodiment of the present application;
FIG. 4 is a schematic diagram of yet another alternative image capture device in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of yet another alternative image calibration apparatus in an embodiment of the present application;
fig. 6 is a schematic structural diagram of yet another alternative electronic device in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The image calibration method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
According to an aspect of the embodiments of the present application, an image calibration method is provided, as shown in fig. 1, the method may specifically include the following steps:
s102, acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when image data are acquired through image acquisition equipment, wherein a plurality of camera modules in the image acquisition equipment comprise the at least one camera pan-tilt module, and the camera pan-tilt module comprises a lens and a camera pan-tilt;
s104, acquiring at least one equivalent image offset corresponding to the rotation angle of the at least one camera holder;
s106, 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 S108, carrying out image calibration on the image data according to the plurality of image real-time offsets.
In this embodiment, the camera modules in the image capturing device include a plurality of camera pan/tilt modules as shown in fig. 2a, or further include a common camera module as shown in fig. 2b, and in this embodiment, the number of the common camera modules is not limited. The camera cloud platform module comprises a camera cloud platform and a lens, wherein the lens is arranged on the camera cloud platform and is fixed by the camera cloud platform. In the process that the image data is collected by the image collecting equipment through the camera pan-tilt module, the anti-shaking function of the lens is realized through the gyroscope in the camera pan-tilt. It should be noted that the number of the camera modules in the present embodiment is two or more.
In the embodiment, in the multi-shot combined photographing process, after the anti-shake function of the camera holder is added, the image offset of the multi-shot combined photographing is changed in real time, and each image frame has a corresponding image offset. Further, the equivalent image offset is obtained by image offset of a lens fixed by the camera holder along with the movement of the camera holder in the process of realizing the anti-shake function of the camera holder in the camera holder module. 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 rotation angle of the camera pan/tilt module.
On the other hand, because the position distribution among the camera modules in the image capturing device also generates the corresponding fixed image offset, in this embodiment, the real-time image offset corresponding to each image frame can be determined according to the equivalent image offset generated by the motion of the camera pan/tilt/zoom module and the fixed image offset generated by the position distribution among the camera pan/tilt/zoom modules, so as to perform image calibration on the image frames.
It should be noted that, according to the embodiment, the corresponding equivalent image offset is determined according to the camera pan tilt rotation angle of the camera pan tilt module to correct the image offset caused by the anti-shake motion of the camera pan tilt, and meanwhile, the real-time image offsets corresponding to the plurality of camera modules are determined according to the equivalent image offset of the pan tilt camera module and the position distribution of the plurality of camera modules in the image acquisition device, and then the image data is subjected to image calibration according to the real-time image offsets corresponding to the camera modules in the image acquisition device. The anti-shake function of the camera holder is combined when the multi-shooting combination is used for shooting, and the problem that effective picture calibration cannot be carried out on multi-shooting combination shooting pictures in the prior art when the anti-shake function of the camera holder is used is solved.
Optionally, in this embodiment, when the image data is collected by the image collecting device, at least one camera pan/tilt rotation angle corresponding to at least one camera pan/tilt module is obtained, which includes but is not limited to: and acquiring the rotating angle of an outer support of the camera pan-tilt module and the rotating angle of an inner support of the camera pan-tilt module.
In this embodiment, a camera pan/tilt in the camera pan/tilt module includes an outer bracket and an inner bracket, and the camera pan/tilt rotation angle includes an outer bracket rotation angle of the outer bracket and an inner bracket rotation angle of the inner bracket, and in the using process of the camera pan/tilt module, the outer bracket rotation angle and the inner bracket rotation angle can be obtained according to transmission information of an image processor in the image acquisition device.
The camera pan-tilt rotation angle of the camera pan-tilt module can be obtained by obtaining the outer support rotation angle and the inner support rotation angle of the camera pan-tilt, and then the motion state of the camera pan-tilt is determined.
Optionally, in this embodiment, the gyroscope in the camera pan/tilt module includes a first rotating shaft and a second rotating shaft, wherein an outer bracket rotating angle of the camera pan/tilt module and an inner bracket rotating angle of the camera pan/tilt module are obtained, including but not limited to: acquiring a first angle of rotation of the first rotating shaft in the first direction to obtain an outer bracket rotating angle; and acquiring a second angle of rotation of the second rotating shaft in the second direction to obtain the rotation angle of the outer bracket.
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 corresponding to each frame of image in two directions are obtained from the camera pan/tilt module 30, where α is the rotation angle of the outer bracket of the camera pan/tilt, and β is the rotation angle of the inner bracket of the camera pan/tilt. The outer cradle rotation angle α is a first angle of rotation of the first gyro shaft 32 in the camera pan and tilt head in a first direction, the inner cradle rotation angle β is a second angle of rotation of the second gyro shaft 34 in a second direction, and the first and second gyro shafts 32 and 34 are respectively installed according to the diagonal of the pan and tilt camera module 30. It should be noted that the outer support rotation angle α and the inner support rotation angle β respectively include a horizontal component and a vertical component.
Through the embodiment, the first angle of the rotation of the first rotating shaft and the second angle of the rotation of the second rotating shaft of the gyroscope in the camera holder are obtained, and the accuracy of the obtained rotation angle of the camera holder is improved.
Optionally, in this embodiment, the obtaining of the at least one equivalent image offset corresponding to the at least one camera pan-tilt rotation angle includes, but is not limited to: and respectively acquiring the equivalent image offset corresponding to each camera holder rotation angle in at least one camera holder rotation angle according to the mapping relation between the camera holder rotation angle and the image offset.
Specifically, in this embodiment, when acquiring an image frame in image data, the camera pan tilt rotation angles (α, β) are obtained by using the rotation angles of the camera pan tilt module in the first direction and the second direction, and the equivalent image offset Δ y corresponding to the camera pan tilt rotation angle can be determined by using the functional relationship Δ y between the camera pan tilt rotation angle and the image offset as f (α, β).
Through the embodiment, the equivalent image offset corresponding to each camera holder rotating angle in at least one camera holder rotating angle is respectively obtained according to the mapping relation between the camera holder rotating angle and the image offset, and the image data offset generated in the camera holder moving process of the camera holder module can be determined.
Optionally, in this embodiment, before obtaining the equivalent image offset corresponding to the camera pan tilt rotation angle according to the mapping relationship between the camera pan tilt rotation angle and the image offset, the method further includes, but is not limited to: when the camera pan-tilt module is at an initial position, acquiring a first image; when the camera pan-tilt module moves to the maximum rotation angle, acquiring a second image; and determining an actual offset according to the first image and the second image, and determining a mapping relation according to the maximum rotation angle and the actual offset.
In a specific application scenario, due to slight differences between each camera pan/tilt module, the image offset of each module and the mapping relationship corresponding to the camera pan/tilt rotation angle need to be calibrated. The calibration is carried out by taking a first image at the initial position of the camera pan-tilt module and taking a second image when the camera pan-tilt module moves to the limit position, wherein the limit position is the maximum rotation angle of the camera pan-tilt. Then, calculating an actual offset between the first image and the second image, and writing the actual offset into a memory of the camera pan-tilt module, where the memory of the camera pan-tilt module includes but is not limited to an EEPROM (Electrically Erasable Programmable read only memory). And then acquiring the actual offset in the memory of the camera pan-tilt module, and constructing a linear/nonlinear mapping relation delta y ═ f (alpha, beta), wherein the equivalent image offset can be determined according to the camera pan-tilt rotation angle according to the mapping relation.
Through the embodiment, the actual offset of the camera pan-tilt module is obtained, and then the mapping relation is determined according to the maximum rotation angle and the actual offset of the camera pan-tilt module, so that the corresponding equivalent image offset is obtained according to the obtained mapping relation and the camera pan-tilt rotation angle.
Optionally, in this embodiment, the determining, according to the at least one equivalent image offset and the position distribution of the plurality of camera modules, a plurality of image real-time offsets corresponding to the plurality of camera modules includes, but is not limited to: acquiring a plurality of fixed offsets corresponding to the plurality of camera modules according to the position distribution among the plurality of camera modules; and determining a plurality of image real-time offsets according to the at least one equivalent image offset and the plurality of fixed offsets.
Specifically, in this embodiment, the distance between the camera pan/tilt modules may also generate a fixed image offset, and therefore the image offset is required to be generated according to the movement of the camera pan/tilt in the camera pan/tilt module. In this embodiment, a plurality of sets of corresponding fixed offsets are obtained according to the position distribution among the plurality of camera modules, and then a plurality of image real-time offsets corresponding to the plurality of camera modules are determined according to the equivalent image offset and the fixed offset generated by the movement of the camera pan-tilt module.
In a specific application scene, the plurality of camera modules of the image acquisition equipment comprise at least one camera pan-tilt module and a common camera module, wherein a plurality of fixed offsets corresponding to the camera modules in the image acquisition equipment are obtained according to the position distribution among the plurality of camera modules and the position distribution among at least one camera pan-tilt module and the common camera module; and determining a plurality of real-time image offset according to the plurality of equivalent image offset and the plurality of fixed offset.
In an example, the image capturing apparatus shown in fig. 4 includes a camera pan-tilt module 40, a camera pan-tilt module 42, and a general camera module 44, where S1 is an equivalent image offset of the camera pan-tilt module 40 from an original center position, S2 is an equivalent image offset of the camera pan-tilt module 42 from the original center position, R12, R23, and R13 are fixed offsets between the camera pan-tilt module and the general camera module, respectively, and the fixed offsets can be calculated through a distribution of installation positions of the camera modules, and F12, F23, and F13 are real-time image offsets between the camera modules, and can be obtained through equivalent image offsets R12, R23, R13, and fixed offsets S1 and S2.
For example, a known vector
Sum vector
By vector subtractionCan calculate the real-time image offset
Based on the same mode, the real-time image offset can be calculated
And
this embodiment is not described herein.
Through the 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 equipment and the fixed offsets between the camera modules, and the actual offset of the image data caused by the camera pan-tilt anti-shake function is determined.
Optionally, in this embodiment, the image calibration is performed on the image data according to a plurality of image real-time offsets, including but not limited to: and performing image cropping on the image data according to the plurality of image real-time offset values.
Specifically, after the image real-time shift amount of the multi-shot combination photographing is acquired, image calibration of the image frame is performed by image cropping based on the image real-time shift amount. It should be noted that, after the multi-camera combined photographing is added with the camera pan-tilt anti-shake function, the real-time offset of the image photographed by the multi-camera combined photographing is changed in real time, and the real-time offset of the image corresponding to each image frame in the image data may be different.
According to the embodiment, when image data are acquired through the image acquisition equipment, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module is acquired; 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 method and the device realize the combination of the photographing function of the camera cloud platform when the multi-photographing combination is photographed, determine the real-time offset of the image according to the camera cloud platform rotation angle of the camera cloud platform module and the position distribution of the camera cloud platform, and perform image calibration on the image data, and solve the problem that effective image calibration cannot be performed on the multi-photographing combination photographing image when the anti-shake function of the camera cloud platform is used in the related art.
It should be noted that, in the image calibration method provided in the embodiment of the present application, the execution subject may be an image calibration apparatus, or a control module in the image calibration apparatus for executing the loaded image calibration method. In the embodiment of the present application, a method for performing loading image calibration by an image calibration apparatus is taken as an example, and the method for performing image calibration provided in the embodiment of the present application is described.
According to another aspect of the embodiments of the present application, an image calibration apparatus is provided, as shown in fig. 5, the image calibration apparatus may specifically include:
1) the first acquiring 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 an image acquisition device, where a 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;
2) a second obtaining unit 52, configured to obtain at least one equivalent image shift amount corresponding to the at least one camera pan-tilt rotation angle;
3) a first determining unit 54, configured to determine real-time offsets of a plurality of images 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;
4) and a calibration unit 56, configured to perform image calibration on the image data according to the plurality of image real-time offsets.
Optionally, in this embodiment, the first obtaining unit 50 includes:
1) the first acquisition module is used for acquiring the rotating angle of the outer support of the camera pan-tilt module and the rotating angle of the inner support of the camera pan-tilt module.
Optionally, in this embodiment, the gyroscope in the camera pan/tilt module includes a first rotating shaft and a second rotating shaft, where the first obtaining module includes:
1) the first obtaining submodule is used for obtaining a first angle of the first rotating shaft rotating in a first direction so as to obtain the rotating angle of the outer support;
2) and the second obtaining submodule is used for obtaining a second angle of the second rotating shaft rotating in a second direction so as to obtain the rotating angle of the outer bracket.
Optionally, in this embodiment, the second obtaining unit 52 includes:
1) and the second acquisition module is used for acquiring the equivalent image offset corresponding to the camera pan-tilt rotation angle according to the mapping relation between the camera pan-tilt rotation angle and the image offset.
Optionally, in this embodiment, the method further includes:
1) the first acquisition unit is used for acquiring a first image when the camera pan-tilt module is at an initial position before acquiring the equivalent image offset corresponding to the camera pan-tilt rotation angle according to the mapping relation between the camera pan-tilt rotation angle and the image offset;
2) the second acquisition unit is used for acquiring a second image when the camera pan-tilt module moves to the maximum rotation angle;
3) and the second determining unit is used for determining an actual offset according to the first image and the second image and determining the mapping relation according to the maximum rotation angle and the actual offset.
Optionally, in this embodiment, the first determining unit 54 includes:
1) the third acquisition module is used for acquiring a plurality of fixed offsets corresponding to the plurality of camera modules according to the position distribution among the plurality of camera modules;
2) and the determining module is used for determining the plurality of image real-time offsets according to the at least one equivalent image offset and the plurality of fixed offsets.
Optionally, in this embodiment, the calibration unit 56 includes:
1) and the calibration module is used for carrying out image cutting on the image data according to the plurality of image real-time offsets.
The image calibration device in the embodiment of the present application may be a specific device, and may also be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiments of the present application are not particularly limited.
The image calibration apparatus in the embodiment of the present application may be an apparatus having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
The image calibration device 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 is not described here again to avoid repetition.
The image calibration device provided in the embodiment is used for acquiring a plurality of groups of camera pan-tilt rotation angles corresponding to a plurality of camera pan-tilt modules in image acquisition equipment; acquiring multiple groups of equivalent image offsets corresponding to the rotation angles of the multiple groups of camera holders; determining a plurality of groups of image real-time offsets corresponding to the plurality of camera pan-tilt modules according to the plurality of groups of equivalent image offsets and the position distribution of the plurality of camera pan-tilt modules; and carrying out image calibration on the image data according to the real-time offset of the plurality of groups of images. The method and the device realize the combination of the photographing function of the camera cloud platform when the multi-photographing combination is photographed, determine the real-time offset of the image according to the camera cloud platform rotation angle of the camera cloud platform module and the position distribution of the camera cloud platform, and perform image calibration on the image data, and solve the problem that effective image calibration cannot be performed on the multi-photographing combination photographing image when the anti-shake function of the camera cloud platform is used in the related art.
According to another aspect of the embodiments of the present application, an image calibration apparatus and an electronic device are provided, which include a processor 610, a memory 609, and a program or an instruction stored in the memory 609 and executable on the processor 610, where the program or the instruction is executed by the processor 610 to implement each process of the method embodiment of the image calibration method, and can achieve the same technical effect, and no further description is provided herein to avoid repetition.
It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and the non-mobile electronic devices described above.
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, a processor 610, and the like.
Those skilled in the art will appreciate that the electronic device 600 may further comprise a power source (e.g., a battery) for supplying power to the various components, and the power source may be logically connected to the processor 610 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The electronic device structure shown in fig. 6 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is omitted here.
A sensor 605, 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 an image acquisition device, where a 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;
a processor 610 for acquiring at least one equivalent image offset corresponding to the at least one camera pan-tilt 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.
It is to be understood that, in the embodiment of the present application, the input Unit 604 may include a Graphics Processing Unit (GPU) 6041 and a microphone 6042, and the Graphics Processing Unit 6041 processes image data of a still picture or a video obtained by an image capturing apparatus (such as a camera) in a video capturing mode or an image capturing mode. The display unit 606 may include a display panel 6061, and the display panel 6061 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. A touch panel 6071, also referred to as a touch screen. The touch panel 6071 may include two parts of a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. The memory 609 may be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 610 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 610.
By the electronic equipment provided in the embodiment, when image data is acquired by the image acquisition equipment, at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module in the plurality of camera modules of the image acquisition equipment is acquired; 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 camera module is used for combining the shooting function of the camera holder when shooting the multi-shooting combination, determining the real-time image offset according to the camera holder rotation angle of the camera holder module and the position distribution of the camera modules in the image acquisition equipment, and performing image calibration on image data. 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.
According to another aspect of the embodiments of the present application, a readable storage medium is further provided, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the method embodiment of the image calibration method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
The 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 configured to run a program or an instruction to implement each process of the method embodiment of the image calibration method, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, or a system-on-chip.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (14)
1. A method of image calibration, the method comprising:
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 the at least one camera pan-tilt module, and the camera pan-tilt module comprises 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 holder;
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;
performing image calibration on the image data according to the plurality of image real-time offsets;
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, including:
acquiring 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 real-time image offsets according to the at least one equivalent image offset and the fixed offsets;
the fixed offset is obtained by the distribution calculation of the installation positions of the camera modules;
the equivalent image offset is the offset of the camera pan-tilt module relative to the original central position.
2. The method of claim 1, wherein acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when acquiring image data through an image acquisition device comprises:
and acquiring the rotating angle of the outer support of the camera pan-tilt module and the rotating angle of the inner support of the camera pan-tilt module.
3. The method of claim 2, wherein the gyroscope in the camera-tilt module comprises a first axis of rotation and a second axis of rotation, wherein,
acquiring an outer support rotation angle of the camera pan-tilt module and an inner support rotation angle of the camera pan-tilt module, including:
acquiring a first angle of rotation of the first rotating shaft in a first direction to obtain a rotation angle of the outer bracket;
and acquiring a second angle of rotation of the second rotating shaft in a second direction to obtain the rotation angle of the outer bracket.
4. The method of claim 1, wherein obtaining at least one equivalent image shift amount corresponding to the at least one camera-pan-tilt rotation angle comprises:
and respectively acquiring the equivalent image offset corresponding to each camera pan-tilt rotation angle in the at least one camera pan-tilt rotation angle according to the mapping relation between the camera pan-tilt rotation angle and the image offset.
5. The method according to claim 4, before obtaining the equivalent image offset corresponding to the camera pan-tilt rotation angle according to the mapping relationship between the camera pan-tilt rotation angle and the image offset, further comprising:
when the camera pan-tilt module is at an initial position, acquiring a first image;
when the camera pan-tilt module moves to the maximum rotation angle, acquiring a second image;
and determining an actual offset according to the first image and the second image, and determining the mapping relation according to the maximum rotation angle and the actual offset.
6. The method of claim 1, wherein image calibrating the image data according to the plurality of image real-time offsets comprises:
and performing image cutting on the image data according to the plurality of image real-time offsets.
7. An image calibration apparatus, characterized in that the apparatus comprises:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring at least one camera pan-tilt rotation angle corresponding to at least one camera pan-tilt module when image data is acquired through image acquisition equipment, a plurality of camera modules in the image acquisition equipment comprise the at least one camera pan-tilt module, and the camera pan-tilt module comprises a lens and a camera pan-tilt;
a second obtaining unit, configured to obtain at least one equivalent image offset corresponding to the at least one camera pan-tilt rotation angle;
the first determining unit is used for 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;
the calibration unit is used for carrying out image calibration on the image data according to the plurality of image real-time offsets;
the first determination unit includes:
the third acquisition module is used for acquiring 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 plurality of images according to the at least one equivalent image offset and the plurality of fixed offsets;
the fixed offset is obtained by the distribution calculation of the installation positions of the camera modules;
the equivalent image offset is the offset of the camera pan-tilt module relative to the original central position.
8. The apparatus of claim 7, wherein the first obtaining unit comprises:
the first acquisition module is used for acquiring the rotating angle of the outer support of the camera pan-tilt module and the rotating angle of the inner support of the camera pan-tilt module.
9. The apparatus of claim 8, wherein the gyroscope in the camera-tilt module comprises a first axis of rotation and a second axis of rotation, wherein,
the first acquisition module comprises:
the first obtaining submodule is used for obtaining a first angle of the first rotating shaft rotating in a first direction so as to obtain the rotating angle of the outer support;
and the second obtaining submodule is used for obtaining a second angle of the second rotating shaft rotating in a second direction so as to obtain the rotating angle of the outer bracket.
10. The apparatus of claim 7, wherein the second obtaining unit comprises:
and the second acquisition module is used for acquiring the equivalent image offset corresponding to the camera holder rotating angle according to the mapping relation between the camera holder rotating angle and the image offset.
11. The apparatus of claim 10, further comprising:
the first acquisition unit is used for acquiring a first image when the camera pan-tilt module is at an initial position before acquiring the equivalent image offset corresponding to the camera pan-tilt rotation angle according to the mapping relation between the camera pan-tilt rotation angle and the image offset;
the second acquisition unit is used for acquiring a second image when the camera pan-tilt module moves to the maximum rotation angle;
and the second determining unit is used for determining an actual offset according to the first image and the second image and determining the mapping relation according to the maximum rotation angle and the actual offset.
12. The apparatus of claim 7, wherein the calibration unit comprises:
and the calibration module is used for carrying out image cutting on the image data according to the plurality of image real-time offsets.
13. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the image calibration method according to any one of claims 1-6.
14. A readable storage medium, on which a program or instructions are stored which, when executed by a processor, carry out the steps of the image calibration method according to any one of claims 1 to 6.
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