CN113055601A - Binocular shooting correction method, binocular shooting correction device and electronic equipment - Google Patents
Binocular shooting correction method, binocular shooting correction device and electronic equipment Download PDFInfo
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- CN113055601A CN113055601A CN202110342818.1A CN202110342818A CN113055601A CN 113055601 A CN113055601 A CN 113055601A CN 202110342818 A CN202110342818 A CN 202110342818A CN 113055601 A CN113055601 A CN 113055601A
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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
- H04N23/67—Focus control based on electronic image sensor signals
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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
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
- H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
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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
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Abstract
The embodiment of the application provides a binocular shooting correction method, a binocular shooting correction device and electronic equipment, relates to the technical field of shooting, and aims to reduce the calculated amount in the binocular shooting process and improve the problems of poor real-time performance and high power consumption of a bottom layer. The method comprises the following steps: acquiring camera internal and external parameters corresponding to a current picture in a shooting process, wherein the camera internal and external parameters comprise camera internal parameters and/or camera external parameters; if the fact that the internal and external parameters of the camera need to be updated and the current picture is the target picture is determined, the internal and external parameters of the camera are updated to be corrected internal and external parameters, the current picture is corrected according to the corrected internal and external parameters, and the corrected internal and external parameters are stored in preset parameters; and if the internal and external parameters of the camera need to be updated and the current picture is a non-target picture, matching the numerical values of the internal and external parameters of the camera with the numerical values of the preset parameters, calling the parameters matched with the internal and external parameters of the camera in the preset parameters when the numerical values of the internal and external parameters of the camera are matched with the numerical values of the preset parameters, and correcting the current picture according to the matched parameters.
Description
Technical Field
The application relates to the technical field of camera shooting, in particular to a binocular shooting correction method, a binocular shooting correction device and electronic equipment.
Background
With the high-speed development of the intelligent equipment, the photographing function of the intelligent equipment is more and more powerful, and many users take the intelligent equipment as a portable photographing tool, so that the photographing effect of the intelligent equipment becomes an important index for the users to measure the quality of the intelligent equipment. At present, monocular photography cannot meet the increasing shooting requirement, and therefore, a binocular shooting scheme is applied to intelligent equipment.
However, the existing scheme needs to extract and correct the features of each frame of picture, and the calculation amount is large, so that the problems of poor real-time performance and high power consumption exist in the bottom layer of the intelligent device.
Disclosure of Invention
The embodiment of the application provides a binocular shooting correction method, a binocular shooting correction device and electronic equipment, and aims to solve the problems.
In a first aspect, a binocular shooting correction method is provided, which is applied to an electronic device, and includes: acquiring camera internal and external parameters corresponding to a current picture in a shooting process, wherein the camera internal and external parameters comprise camera internal parameters and/or camera external parameters; if the fact that the internal and external parameters of the camera need to be updated and the current picture is the target picture is determined, the internal and external parameters of the camera are updated to be corrected internal and external parameters, the current picture is corrected according to the corrected internal and external parameters, and the corrected internal and external parameters are stored in preset parameters; and if the internal and external parameters of the camera need to be updated and the current picture is a non-target picture, matching the numerical values of the internal and external parameters of the camera with the numerical values of the preset parameters, calling the parameters matched with the internal and external parameters of the camera in the preset parameters when the numerical values of the internal and external parameters of the camera are matched with the numerical values of the preset parameters, and correcting the current picture according to the matched parameters.
The second aspect provides a binocular shooting correction device, which is applied to electronic equipment and comprises an acquisition module and a processing module. The acquisition module is used for acquiring camera internal and external parameters corresponding to a current picture in a shooting process; and the processing module is used for updating the internal and external parameters of the camera into corrected internal and external parameters if the internal and external parameters of the camera need to be updated and the current picture is determined to be a target picture, correcting the current picture according to the corrected internal and external parameters, storing the corrected internal and external parameters into preset parameters, matching the numerical values of the internal and external parameters of the camera with the numerical values of the preset parameters if the internal and external parameters of the camera need to be updated and the current picture is determined to be a non-target picture, calling the parameters matched with the internal and external parameters of the camera in the preset parameters when the numerical values of the internal and external parameters of the camera are matched with the numerical values of the preset parameters, and correcting the current picture according.
In a third aspect, an electronic device is provided, including: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, in which a program code is stored, the program code being called by a processor to perform the method of the first aspect.
In the binocular shooting correction method, the binocular shooting correction device and the electronic equipment, when the internal and external parameters of the camera need to be updated on the current picture, whether the current picture is the target picture or not can be determined, if the current picture is the target picture, the internal and external parameters of the camera corresponding to the current picture can be updated into the corrected internal and external parameters through calculation, and then the current picture is corrected according to the corrected internal and external parameters. If the current picture is a non-target picture, the values of the internal and external parameters of the camera corresponding to the current picture can be directly matched with the values of the preset parameters, when the values of the internal and external parameters of the camera are matched with the values of the preset parameters, the matched parameters are directly called to correct the current picture, the internal and external parameters are corrected without calculating the corresponding corrected internal and external parameters of the non-target picture, and therefore the calculated amount in the binocular shooting process is reduced, and the problems of poor real-time performance and high power consumption of a bottom layer are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of a binocular shooting correction method provided in an embodiment of the present application;
fig. 2 is a schematic process diagram of a binocular shooting correction method provided in an embodiment of the present application;
fig. 3 is a schematic process diagram of a binocular shooting correction method provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of a binocular shooting correction method provided in an embodiment of the present application;
fig. 5 is a schematic process diagram of a binocular shooting correction method provided in an embodiment of the present application;
fig. 6 is a schematic flowchart of a binocular shooting correction method provided in an embodiment of the present application;
fig. 7 is a schematic process diagram of a binocular shooting correction method provided in an embodiment of the present application;
fig. 8 is a schematic flowchart of a binocular shooting correction method provided in an embodiment of the present application;
fig. 9 is a schematic process diagram of a binocular shooting correction method provided in an embodiment of the present application;
fig. 10 is a block diagram of a binocular shooting correction apparatus provided in an embodiment of the present application;
fig. 11 is a relational block diagram of modules in an electronic device according to an embodiment of the present disclosure;
fig. 12 is a block diagram illustrating a relationship between a computer-readable storage medium and an application program according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The background art mentions that the amount of calculation is large when correcting a picture. Specifically, the method comprises the following steps: after binocular shooting is carried out, camera internal and external parameters of a frame of picture can be obtained, the camera internal and external parameters are corrected to obtain corrected camera internal and external parameters, a mapping matrix of the frame of picture is obtained according to the camera internal and external parameters and the corrected camera internal and external parameters, however, if each frame of picture calculates the mapping matrix according to the process, the calculation amount is very large.
Based on the above, the inventor of the present application provides a binocular shooting correction method, a binocular shooting correction device and an electronic device through research, which can reduce the calculated amount in the binocular shooting process and improve the problems of poor real-time performance and high power consumption of a bottom layer.
The configuration of two cameras is not limited, the configuration of the two cameras is different, the working principle is different, and the achieved effect is different.
For example, both the two cameras are color cameras, and can be used for calculating the depth of field and realizing background blurring and refocusing; one camera is a color camera, and the other camera is a black-and-white camera, so that the dark light or liquid crystal shooting quality can be improved; one camera is a wide-angle lens, and the other camera is a telephoto lens, so that optical zooming can be realized; one camera is a color camera, and the other camera is a depth camera, and can be used for three-dimensional reconstruction.
The embodiment of the application does not limit the specific application of the electronic equipment, so long as the electronic equipment at least comprises two cameras, and the two cameras can shoot simultaneously, so that binocular shooting can be realized.
For example, the electronic device may be a cell phone, a camera, a tablet computer, and the like.
As shown in fig. 1, an embodiment of the present application provides a binocular shooting correction method, which is applied to an electronic device, and the method includes:
and S110, acquiring camera internal and external parameters corresponding to the current picture in the shooting process, wherein the camera internal and external parameters comprise camera internal parameters and/or camera external parameters.
As shown in fig. 2, when two cameras work simultaneously to shoot the same scene, multiple M frames of pictures can be obtained, where the multiple frames of pictures include a target picture and a non-target picture. The correction method for the target picture refers to step S120, and the correction method for the non-target picture refers to step S130.
In some embodiments, the application scene of the embodiment of the present application may be to take a photo or a video.
If the application scene is a picture, from the time when a shooting interface of the electronic equipment is opened to the time when a shooting key is pressed, pictures shot by the two cameras are preview pictures; and after the shooting key is pressed, pictures shot by the two cameras are shot pictures. The preview screen and the photographing screen together constitute an M-frame screen.
If the application scene is a shooting video, from the time when a shooting interface of the electronic equipment is opened to the time when a shooting key is pressed, pictures shot by the two cameras are preview pictures; and after the shooting start key is pressed down and a time period from the pressing of the shooting end key is up, the pictures shot by the two cameras are shot pictures. The preview screen and the photographing screen together constitute an M-frame screen.
Or if the application scene is a shot video, the shot pictures shot by the two cameras are M frames of pictures after the shooting start key is pressed and the shooting end key is pressed.
In some embodiments, no definition is made as to which frame is the target picture and which frame is the non-target picture among the M-frame pictures. Optionally, the target picture may be set in advance according to a certain rule, and pictures other than the target picture in the M frames of pictures are non-target pictures.
For example, the target picture may be an a × N +1 th frame of M frames, where a and N are positive integers. Taking N as 5 as an example, the a × N +1 th frame of the first, sixth, and eleventh frame images … … may be used as the target image. The pictures except the above pictures in the M frames are non-target pictures.
In some embodiments, before mass production, calibrated internal parameters and external parameters of the camera may be written into the electronic device according to the characteristics of the camera itself, and during shooting, the internal parameters and the external parameters corresponding to each frame of picture may be directly called from the electronic device.
The internal parameters are determined by a plurality of parameters such as focal length, pixels, principal points and the like, and during shooting, the numerical value of the focal length can be influenced by automatic focusing and optical anti-shake, so that the numerical value of the internal parameters is influenced. The external parameters are determined by the respective position, phase and other parameters of the two cameras.
In some embodiments, for binocular shooting, both cameras have independent camera intrinsic parameters and also independent camera extrinsic parameters.
And S120, if the internal and external parameters of the camera need to be updated and the current picture is determined to be the target picture, updating the internal and external parameters of the camera to be corrected internal and external parameters, correcting the current picture according to the corrected internal and external parameters, and storing the corrected internal and external parameters in preset parameters.
As shown in fig. 2, it may be determined that the camera internal and external parameters need to be updated, and then, it is determined whether the current picture is the target picture, and if the current picture is the target picture, the camera internal and/or external parameters are corrected according to the correction requirement, so as to correct the target picture, and the corrected internal and external parameters are stored in the preset parameters. If the number of frames of the target parameter to be corrected is multiple frames, the corrected internal and external parameters may be stored in the preset parameters for matching in step S130.
In some embodiments, determining that camera parameters need to be updated includes: and updating the camera internal parameters, or updating the camera external parameters, or updating the camera internal parameters and the camera external parameters.
If only the camera internal parameters are updated, the corrected internal parameters and the corrected external parameters comprise corrected internal parameters, the camera internal parameters are updated to be corrected internal parameters, the current picture is corrected according to the corrected internal parameters, and then the corrected internal parameters are stored in preset parameters.
If only the camera external parameters are updated, the corrected internal and external parameters comprise corrected external parameters, the camera external parameters are updated to be corrected external parameters, the current picture is corrected according to the corrected external parameters, and then the corrected external parameters are stored in preset parameters.
If the camera internal parameters and the camera external parameters are updated, the corrected internal parameters and the corrected external parameters comprise corrected internal parameters and corrected external parameters, the camera internal parameters are updated to corrected internal parameters respectively, the current picture is corrected according to the corrected internal parameters, the camera external parameters are updated to corrected external parameters, the current picture is corrected according to the corrected external parameters, and then the corrected internal parameters and the corrected external parameters are stored in preset parameters.
In some embodiments, since the camera internal parameters and the camera external parameters of the two cameras are independent, the preset parameters include parameters corresponding to the camera internal parameters and the camera external parameters of the two cameras one-to-one.
In some embodiments, the preset parameters may be stored in a database, or a data set, or a look-up table of the electronic device.
In some embodiments, the specific manner of updating the camera internal and external parameters to the corrected internal and external parameters in step S120 is not limited.
S130, if it is determined that the internal and external parameters of the camera need to be updated and the current picture is a non-target picture, matching the numerical values of the internal and external parameters of the camera with the numerical values of the preset parameters, calling the parameters matched with the internal and external parameters of the camera in the preset parameters when the numerical values of the internal and external parameters of the camera are matched with the numerical values of the preset parameters, and correcting the current picture according to the matched parameters.
As shown in fig. 3, it may be determined that the camera internal and external parameters need to be updated, and then, it is determined whether the current picture is a target picture, if the current picture is a non-target picture, the values of the camera internal and external parameters may be matched with the values stored in the preset parameters, and when the values of the camera internal and external parameters are matched with the values of the preset parameters, the parameters matched with the camera internal and external parameters in the preset parameters may be directly called, and the current picture may be corrected according to the matched parameters. The numerical values stored in the preset parameters at least include corrected internal and external parameters corresponding to all target pictures needing to be corrected before the current picture, and on the basis, some preset parameters can be stored in the preset parameters.
In addition, the database, or the data set, or the lookup table of the electronic device may further store the initial internal parameters and the initial external parameters of the two cameras. When the values of the internal and external parameters of the camera are not matched with the values of the preset parameters, the initial internal parameters and/or the initial external parameters in a database, or a data set, or a lookup table of the electronic device can be called to correct the current picture according to the initial internal parameters and/or the initial external parameters.
In some embodiments, since the camera internal parameters and the camera external parameters of the two cameras are independent from each other, the process of matching the camera internal and external preset parameters actually matches the camera internal and external preset parameters of the two cameras respectively.
In some embodiments, taking the current picture as a thirteenth frame picture, the target picture as an a × N +1 th frame, and the first frame picture, the sixth frame picture, and the eleventh frame picture all need to be corrected as an example, the preset parameters at least include corrected internal and external parameters corresponding to the first frame picture, the sixth frame picture, and the eleventh frame picture, the value of the camera internal and external parameters corresponding to the thirteenth frame picture may be matched with the value of the preset parameters, and if the corrected internal and external parameters used for correcting the sixth frame picture are matched, the corrected internal and external parameters used for correcting the sixth frame picture may be directly called, so as to correct the thirteenth frame picture.
The embodiment of the application provides a binocular shooting correction method, when a current picture needs to update camera internal and external parameters, whether the current picture is a target picture or not can be determined, if the current picture is the target picture, the camera internal and external parameters corresponding to the current picture can be updated into corrected internal and external parameters through calculation, and then the current picture is corrected according to the corrected internal and external parameters. If the current picture is a non-target picture, the values of the internal and external parameters of the camera corresponding to the current picture can be directly matched with the values of the preset parameters, when the values of the internal and external parameters of the camera are matched with the values of the preset parameters, the matched parameters are directly called to correct the current picture, the internal and external parameters are corrected without calculating the corresponding corrected internal and external parameters of the non-target picture, and therefore the calculated amount in the binocular shooting process is reduced, and the problems of poor real-time performance and high power consumption of a bottom layer are solved.
As shown in fig. 4, an embodiment of the present application further provides a binocular shooting correction method, in a case that a current picture is a target picture, for updating camera internal parameters to correction internal parameters to correct the target picture, the method including:
and S111, acquiring camera internal parameters corresponding to the current picture in the shooting process, wherein the camera internal parameters comprise target parameters.
As shown in fig. 5, when two cameras work simultaneously to shoot the same scene, M frames of pictures can be obtained, and camera internal parameters corresponding to the current picture are obtained.
In some embodiments, the camera intrinsic parameters may include other parameters in addition to the target parameters, which may be one or more parameters. Illustratively, the target parameter is focal length.
And S112, matching the target parameters with preset parameters, wherein the preset parameters comprise reference parameters corresponding to the target parameters.
As shown in fig. 5, after the internal reference of the current screen is acquired, the value of the target parameter may be matched with the value of the reference parameter included in the preset parameter.
In some embodiments, the reference parameter is the same nature as the target parameter, but the same or different in value.
Illustratively, the target parameter is a focal length and the reference parameter is also the focal length. When the numerical value of the focal length in the target parameter is the same as the numerical value of the focal length in the reference parameter, the numerical value of the target parameter is matched with the numerical value of the preset parameter; when the numerical value of the focal length in the target parameter is different from the numerical value of the focal length in the reference parameter, the numerical value of the target parameter is not matched with the numerical value of the preset parameter.
And S113, determining that the camera internal parameters need to be updated when the numerical values of the target parameters are not matched with the numerical values of the reference parameters.
As shown in fig. 5, when the value of the preset parameter does not match the value of the target parameter, it indicates that the current camera internal parameter has an error and needs to be updated.
In addition, when the value of the reference parameter is matched with the value of the target parameter, the internal reference mapping matrix corresponding to the internal reference of the camera and the corrected display information can be directly called to correct the target picture.
S121, acquiring display information of the target picture, obtaining a correction target parameter according to the display information, the display information and the mapping relation of the correction target parameter, and updating the value of the target parameter to the value of the correction target parameter.
As shown in fig. 5, the display information of each pixel of the current frame may be acquired, the correction target parameter may be obtained according to the pre-stored mapping relationship between the display information and the correction target parameter and the display information, the value of the target parameter may be updated to the correction target parameter, and step S122 may be executed according to the updated target parameter. Furthermore, the value of the correction target parameter can be stored in the preset parameter in the form of a reference parameter, so as to match the target parameter corresponding to the next target picture.
In some embodiments, the display information may be brightness information, resolution, etc. of individual pixels in the target picture.
In some embodiments, before mass production, a mapping relationship between the display information and the correction target parameter may be calculated, and the mapping relationship is stored in the electronic device, and when the value of the preset parameter is not matched with the value of the target parameter, the mapping relationship may be directly called from the electronic device, and when the mapping relationship and the display information are known, the unknown correction target parameter may be obtained.
In some embodiments, the target parameters of the two cameras are independent, and when the values of the preset parameters are not matched with the values of the target parameters, the correction target parameters of the two cameras are calculated respectively, and the target parameters of the two cameras are updated to the correction target parameters respectively.
And S122, obtaining the correction internal parameters according to the updated target parameters, and correcting the target picture according to the correction internal parameters.
As shown in fig. 5, the correction internal parameter is determined by a plurality of parameters including the target parameter, the target parameter changes, the camera internal parameter also changes, the correction internal parameter can be obtained according to the updated target parameter, and the target picture can be corrected according to the correction internal parameter.
Wherein, step S122 specifically includes:
and S1221, obtaining the correction internal parameters according to the updated target parameters and the mapping relation between the updated target parameters and the correction internal parameters.
Before mass production, the mapping relation between the target parameters and the correction internal parameters can be calculated, the mapping relation is stored in the electronic equipment, the mapping relation can be directly called from the electronic equipment after the updated target parameters are obtained through calculation, and the correction internal parameters of the unknown numbers can be obtained under the condition that the mapping relation and the updated target parameters are known.
And S1222, obtaining an internal reference mapping matrix of the display information and the corrected display information correction internal reference according to the internal reference and the corrected internal reference.
The camera internal parameters are initial internal parameters corresponding to the target picture and correspond to display information of the target picture, the corrected internal parameters are camera internal parameters corresponding to the target picture after the target picture is corrected and correspond to the corrected display information, and an internal parameter mapping matrix between the display information and the corrected display information can be obtained through the camera internal parameters and the corrected internal parameters. After the internal reference mapping matrix is obtained, the internal reference mapping matrix corresponding to the corrected internal reference can be stored. In addition, the mode of obtaining the internal reference mapping matrix according to the camera internal reference and the correction internal reference can be written into the electronic device in advance, and after the camera internal reference and the correction internal reference are obtained, the specific numerical values of the camera internal reference and the correction internal reference can be directly substituted to obtain the internal reference mapping matrix.
And S1223, obtaining the corrected display information according to the internal reference mapping matrix and the display information, and correcting the target picture according to the corrected display information.
After the internal reference mapping matrix is obtained, corrected display information can be obtained according to the internal reference mapping matrix and the obtained display information, and the corrected display information is used for processing the target picture. In addition, the corrected display information and the corrected internal parameters can be stored in preset parameters, and when the value of the target parameter is matched with the preset parameters, the corrected display information stored before can be directly called.
In some embodiments, since the corrected target parameters of the two cameras are independent, the updated target parameters of the two cameras are also independent, and further, the updated corrected internal parameters of the two cameras are also independent. And calculating to obtain respective internal reference mapping matrixes according to respective camera internal reference and correction internal reference of the two cameras.
The embodiment of the application provides a binocular shooting correction method, in the shooting process, automatic focusing, optical anti-shake and other operations may cause target parameters in internal parameters to change, and then the internal parameters of a camera also change along with the target parameters. The method provided by the embodiment of the application can update the camera internal parameters corresponding to the target picture aiming at the condition that the camera internal parameters are changed due to the change of the target parameters, and further correct the target picture according to the updated corrected internal parameters, so that the binocular shooting effect is prevented from being influenced by the change of the internal parameters. On the basis, the target picture can be automatically corrected, so that after-sale recalibration can be replaced, and after-sale cost is saved.
As shown in fig. 6, in a case that a current frame is a target frame, an embodiment of the present application further provides a binocular shooting correction method, including:
and S111, acquiring camera internal parameters corresponding to the current picture in the shooting process, wherein the camera internal parameters comprise target parameters.
And S112, matching the target parameters with preset parameters, wherein the preset parameters comprise reference parameters corresponding to the target parameters.
And S113, determining that the camera internal parameters need to be updated when the numerical values of the target parameters are not matched with the numerical values of the reference parameters.
The explanation of steps S111 to S113 is the same as that of steps S111 to S113 in the foregoing embodiment, and is not repeated herein.
And S141, acquiring characteristic information of a plurality of areas positioned at different positions in the target picture.
As shown in fig. 7, when the value of the reference parameter does not match the value of the target parameter, feature information of a plurality of regions located at different positions in the target frame may be acquired, and whether the target frame meets the requirement may be determined according to the feature information of the plurality of regions. The judgment criterion that the target picture meets the requirement may be that the feature information of the plurality of regions all include valid feature information.
In some embodiments, the entire target screen may be divided into a plurality of regions; alternatively, the plurality of regions constitute a part of the target screen.
The plurality of regions at different positions may include a plurality of pixels, and the pixels in one region may be arranged in a manner of x × y, where x and y are positive integers greater than or equal to 1.
S142, when the plurality of regions each include the valid feature information, the step of acquiring the display information of the target screen is performed, that is, the steps S121 and S122 are continuously performed.
As shown in fig. 7, when the plurality of regions each include valid feature information, it is described that the plurality of regions of the target screen each have actual content, and a case where a partial region of the target screen has actual content and the partial region is blank can be excluded. Further, display information of the target picture is acquired.
In some embodiments, as shown in fig. 7, when at least some of the plurality of regions do not contain valid feature information, a next frame of the target picture is acquired as a new target picture, and steps S111 to S142 are re-executed.
The embodiment of the application provides a binocular shooting correction method, and after the preset parameters are determined to be not matched with the target parameters and before the display information of the target picture is acquired, whether a plurality of areas of the target picture contain effective characteristic information can be determined, so that the target picture is prevented from containing a large number of blank undisplayed areas, and the calculation result of the correction target parameters calculated according to the display information is influenced.
As shown in fig. 8, an embodiment of the present application further provides a binocular shooting correction method, where a current picture is a target picture, the method is used to update a camera external parameter to a corrected external parameter so as to correct the target picture, and the method includes:
and S114, acquiring camera external parameters corresponding to the current picture in the shooting process.
As shown in fig. 9, when two cameras work simultaneously to shoot the same scene, the external parameters corresponding to the current picture are obtained.
In some embodiments, step S114 may be performed simultaneously with step S111 of acquiring camera parameters of the target screen; or, step S111 is executed first, and then step S114 is executed; alternatively, step S114 is executed first, and then step S111 is executed.
And S115, determining whether the external parameters of the camera need to be updated.
As shown in fig. 9, it may be determined whether the camera external parameters need to be updated according to the current actual positions of the two cameras and other information. The external parameters are determined by the respective position, phase and other parameters of the two cameras, and the external parameters of the cameras are changed as long as one of the parameters is changed, and once the external parameters are changed, the external parameters of the cameras need to be updated. The camera is not used for a long time, so that the camera cannot be corrected for a long time, and the external parameters of the camera are changed; alternatively, the electronic device collides with another object, causing the camera to be displaced, for example, the electronic device is dropped.
Specifically, taking the electronic device falling as an example, determining whether external parameters of the camera need to be updated includes:
and S1151, monitoring the state of the electronic equipment.
The real-time motion state, the external force condition and the like of the electronic equipment can be detected.
S1152, when it is monitored that the electronic equipment breaks down within a preset time period, it is determined that external parameters of the camera need to be updated.
Whether the electronic equipment is broken down within a preset time can be monitored by an Inertial Measurement Unit (IMU for short), and when the electronic equipment is broken down, the camera is likely to be displaced, so that the external parameters are determined to be updated.
S1153, when it is monitored that the electronic equipment is not broken in the preset time period, determining not to update the camera external parameters.
When the situation that the electronic equipment is not broken in the preset time period is monitored, the camera head can be determined to generate displacement due to no external force, and therefore external parameters of the camera do not need to be updated.
In some embodiments, the preset time may be an interval time between the target picture and a last target picture.
And S116, when the camera external parameters need to be updated, acquiring the display information of the target picture, obtaining the corrected external parameters according to the display information and the mapping relation between the display information and the corrected external parameters, updating the camera external parameters into the corrected external parameters, and correcting the target picture according to the corrected external parameters.
As shown in fig. 9, the correction external parameter is obtained from the display information and the mapping relationship between the display information and the correction external parameter stored in advance, and the target screen is corrected based on the correction external parameter.
In some embodiments, referring to fig. 10, after the target screen is corrected by using the correction parameter, the steps S110 to S140 may be further performed.
In some embodiments, before mass production, the mapping relationship between the display information and the correction external parameter may be calculated, and when the external parameter needs to be corrected, the mapping relationship may be directly called from the electronic device, and the unknown correction external parameter may be obtained under the condition that the mapping relationship and the display information are known.
S117, when the camera external parameters do not need to be updated, an operation of matching the target parameters with the preset parameters may be performed.
Since frequent focusing may occur during shooting, the internal parameters of the camera are frequently changed, and when the external parameters do not need to be updated, steps S111 to S113 may be further performed.
The embodiment of the application provides a binocular shooting correction method, whether camera extrinsic parameters need to be updated or not can be determined firstly, the camera extrinsic parameters are updated, and then a target picture is corrected according to the updated corrected extrinsic parameters, so that the binocular shooting effect is prevented from being influenced due to the change of the camera extrinsic parameters. On the basis, the target picture can be automatically corrected, so that after-sale recalibration can be replaced, and after-sale cost is saved.
As shown in fig. 10, in a case that a current frame is a target frame, an embodiment of the present application further provides a binocular shooting correction method, including:
and S114, acquiring camera external parameters corresponding to the current picture in the shooting process.
And S115, determining whether the external parameters of the camera need to be updated.
The explanation of steps S114 and S115 is the same as that of steps S114 and S115 in the foregoing embodiment, and is not repeated here.
And S161, when the camera external parameters need to be updated, acquiring the characteristic information of a plurality of areas positioned at different positions in the target picture.
Referring to fig. 9, when the camera external parameters need to be updated, the feature information of a plurality of regions located at different positions in the target picture may be obtained, and whether the target picture meets the requirements may be determined according to the feature information of the plurality of regions. The judgment criterion that the target picture meets the requirement may be that the feature information of the plurality of regions all include valid feature information.
In some embodiments, the entire target screen may be divided into a plurality of regions; alternatively, the plurality of regions constitute a part of the target screen.
The plurality of regions at different positions may include a plurality of pixels, and the pixels in one region may be arranged in a manner of x × y, where x and y are positive integers greater than or equal to 1.
And S162, when the plurality of areas contain effective characteristic information, acquiring display information of the target picture.
As shown in fig. 9, when the plurality of regions each include valid feature information, it is described that the plurality of regions of the target screen each have actual content, and a case where a partial region of the target screen has actual content and the partial region is blank can be excluded. Further, display information of the target picture is acquired.
In some embodiments, when the plurality of regions all include valid feature information, after step S162 is executed, in the process of executing steps S111 to S122, it may no longer be detected whether the plurality of regions of the target screen all include valid feature information, that is, steps S141 and S142 are no longer executed.
In some embodiments, as shown in fig. 9, when at least some of the plurality of regions do not contain valid feature information, a next frame of the target picture is acquired as a new target picture, and steps S114, S115, and S161 are re-executed.
And S163, updating the camera external parameter to be the correction external parameter according to the display information and the mapping relation between the display information and the correction external parameter.
And obtaining the correction external parameter according to the pre-stored mapping relation between the display information and the correction external parameter and the display information, updating the camera external parameter into the correction external parameter, and executing the steps S164 and S165 according to the updated target parameter.
And S164, obtaining an external parameter mapping matrix of the display information and the corrected display information according to the camera external parameter and the corrected external parameter.
The camera external parameter is an initial external parameter corresponding to the target picture and corresponds to display information of the target picture, the corrected external parameter is a camera external parameter corresponding to the target picture after the target picture is corrected and corresponds to the corrected display information, and an external parameter mapping matrix between the display information and the corrected display information can be obtained through the camera external parameter and the corrected external parameter. After the external parameter mapping matrix is obtained, the external parameter mapping matrix corresponding to the corrected external parameter can be stored. In addition, the external parameter mapping matrix can be written into the electronic device in advance according to the mode of obtaining the external parameter mapping matrix by the external parameter of the camera and the corrected external parameter, and the external parameter mapping matrix can be obtained by directly substituting the specific values of the external parameter of the camera and the corrected external parameter.
And S165, obtaining the corrected display information according to the external parameter mapping matrix and the display information, and correcting the target picture according to the corrected display information.
After the external parameter mapping matrix is obtained, corrected display information can be obtained according to the external parameter mapping matrix and the obtained display information, and the corrected display information is used for processing the target picture. In addition, the corrected display information and the corrected external parameters can be stored in preset parameters, and when the value of the target parameter is matched with the preset parameters, the corrected display information stored before can be directly called.
The embodiment of the application provides a binocular shooting correction method, and when camera external parameters need to be updated and before display information of a target picture is acquired, whether a plurality of areas of the target picture contain effective characteristic information can be determined firstly, so that the target picture is prevented from containing a large number of blank undisplayed areas and influencing a calculation result of a correction target parameter calculated according to the display information.
As shown in fig. 10, the embodiment of the present application further provides a binocular shooting correction device 100, where the binocular shooting correction device 100 includes an acquisition module 101 and a processing module 102.
The acquiring module 101 is configured to acquire camera internal and external parameters corresponding to a current picture in a shooting process.
The processing module 102 is configured to update the camera internal and external parameters to corrected internal and external parameters if it is determined that the camera internal and external parameters need to be updated and the current picture is the target picture, correct the current picture according to the corrected internal and external parameters, and store the corrected internal and external parameters in preset parameters.
The processing module 102 is further configured to match a value of the internal and external parameters of the camera with a value of a preset parameter if it is determined that the internal and external parameters of the camera need to be updated and the current picture is a non-target picture.
The processing module 102 is further configured to, when the values of the internal and external parameters of the camera are matched with the values of the preset parameters, call parameters, which are matched with the internal and external parameters of the camera, in the preset parameters, and correct the current picture according to the matched parameters.
On this basis, the obtaining module 101 is further configured to obtain camera internal parameters corresponding to the current picture in the shooting process, where the camera internal parameters include target parameters; the processing module 102 is further configured to match the target parameter with a preset parameter, where the preset parameter includes a reference parameter corresponding to the target parameter, and when the value of the target parameter is not matched with the value of the reference parameter, it is determined that the camera internal parameter needs to be updated.
The processing module 102 is further configured to obtain display information of the target picture, obtain a correction target parameter according to a mapping relationship between the display information, and the correction target parameter, update a value of the target parameter to a value of the correction target parameter, obtain a correction internal parameter according to the updated target parameter, and correct the target picture according to the correction internal parameter.
The processing module 102 is further configured to obtain a correction internal parameter according to the updated target parameter, the mapping relationship between the updated target parameter and the correction internal parameter, obtain an internal parameter mapping matrix of display information and corrected display information according to the camera internal parameter and the correction internal parameter, obtain the corrected display information according to the internal parameter mapping matrix and the display information, and correct the target picture according to the corrected display information.
The processing module 102 is further configured to acquire feature information of a plurality of regions located at different positions in the target screen, and further configured to execute the step of acquiring display information of the target screen when the plurality of regions all contain valid feature information.
The obtaining module 101 is further configured to obtain camera external parameters corresponding to a current picture in a shooting process; determining whether the camera external parameters need to be updated; the processing module 102 is further configured to, when the camera external parameter needs to be updated, obtain display information of the target picture, obtain a corrected external parameter according to the display information and a mapping relationship between the display information and the corrected external parameter, update the camera external parameter to the corrected external parameter, and correct the target picture according to the corrected external parameter, and when the camera external parameter does not need to be updated, execute an operation of matching the target parameter with a preset parameter.
The processing module 102 is further configured to monitor a state of the electronic device, determine that the external parameter of the camera needs to be updated when it is monitored that the electronic device is broken within a preset time period, and determine not to update the external parameter of the camera when it is monitored that the electronic device is not broken within the preset time period.
The processing module 102 is further configured to, when the external parameter of the camera needs to be updated, obtain feature information of a plurality of regions located at different positions in the target picture, when the plurality of regions all include valid feature information, obtain display information of the target picture, update the external parameter of the camera to be a corrected external parameter according to the display information and a mapping relationship between the display information and the corrected external parameter, obtain an external parameter mapping matrix of the display information and the corrected display information according to the external parameter of the camera and the corrected external parameter, obtain the corrected display information according to the external parameter mapping matrix and the display information, and correct the target picture according to the corrected display information.
The embodiment of the application provides a binocular shooting correction device, and the explanation and the beneficial effects thereof can refer to the embodiment, which is not described herein again.
As shown in fig. 11, another embodiment of the present application provides an electronic device 200, and the electronic device 200. The electronic device 200 of the present application may include: one or more processors 201, memory 202, one or more applications 203. Wherein one or more applications 203 are stored in the memory 202 and configured to be executed by the one or more processors 201, the one or more applications 203 being configured to perform the method of any of the preceding embodiments.
The Memory 202 may include a Random Access Memory (RAM) or a Read-Only Memory (ROM). The memory 202 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 202 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area may also store data created by the electronic device 200 during use (e.g., phone book, audio-video data, chat log data), etc.
The embodiment of the application provides an electronic device 200, and the explanation and the advantageous effects of the electronic device 200 are the same as those of the foregoing embodiment, and are not repeated herein.
Fig. 12 is a block diagram illustrating a computer-readable storage medium 300 according to another embodiment of the present application. The computer-readable storage medium 300 has stored therein program code that can be called by a processor to execute the method described in the above-described method embodiments.
The computer-readable storage medium 300 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 300 includes a non-transitory computer-readable storage medium.
The computer readable storage medium 300 has storage space for an application 203 that performs any of the method steps of the method described above. The application programs 203 may be read from or written to one or more computer program products. The application 203 may, for example, compress in a suitable form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A binocular shooting correction method is applied to electronic equipment and is characterized by comprising the following steps:
acquiring camera internal and external parameters corresponding to a current picture in a shooting process, wherein the camera internal and external parameters comprise camera internal parameters and/or camera external parameters;
if the fact that the camera internal and external parameters need to be updated and the current picture is the target picture is determined, updating the camera internal and external parameters into corrected internal and external parameters, correcting the current picture according to the corrected internal and external parameters, and storing the corrected internal and external parameters in preset parameters;
and if the camera internal and external parameters need to be updated and the current picture is a non-target picture, matching the numerical values of the camera internal and external parameters with the numerical values of the preset parameters, calling the parameters matched with the camera internal and external parameters in the preset parameters when the numerical values of the camera internal and external parameters are matched with the numerical values of the preset parameters, and correcting the current picture according to the matched parameters.
2. The method according to claim 1, wherein when the camera internal and external parameters include the camera internal parameters, the obtaining of the camera internal and external parameters corresponding to the current picture in the shooting process includes:
acquiring the camera internal parameters corresponding to the current picture in the shooting process, wherein the camera internal parameters comprise target parameters;
matching the target parameters with preset parameters, wherein the preset parameters comprise reference parameters corresponding to the target parameters;
when the value of the target parameter does not match the value of the reference parameter, determining that the camera internal parameters need to be updated.
3. The method of claim 2, wherein said updating the camera extrinsic parameter to a corrected extrinsic parameter, and wherein correcting the current picture based on the corrected extrinsic parameter comprises:
acquiring display information of the target picture, obtaining the correction target parameter according to the display information, the mapping relation between the display information and the correction target parameter, and updating the value of the target parameter to the value of the correction target parameter;
and acquiring a correction internal parameter according to the updated target parameter, and correcting the target picture according to the correction internal parameter.
4. The method according to claim 3, wherein the obtaining of the corrected internal parameters according to the updated target parameters and the correcting of the target picture according to the corrected internal parameters comprises:
obtaining the correction internal parameters according to the updated target parameters and the mapping relation between the updated target parameters and the correction internal parameters;
obtaining an internal reference mapping matrix of the display information and the corrected display information according to the camera internal reference and the corrected internal reference;
and obtaining the corrected display information according to the internal reference mapping matrix and the display information, and correcting a target picture according to the corrected display information.
5. The method according to any one of claims 2 to 4, wherein when the value of the target parameter does not match the value of the reference parameter, after determining that the camera internal parameter needs to be updated and before acquiring the display information of the target picture, the method further comprises:
acquiring characteristic information of a plurality of areas positioned at different positions in the target picture;
and when the plurality of areas all contain effective characteristic information, executing the step of acquiring the display information of the target picture.
6. The method according to any one of claims 2 to 4, wherein when the camera internal and external parameters include camera external parameters, the obtaining of the camera internal and external parameters corresponding to the current picture in the shooting process includes:
acquiring camera external parameters corresponding to the current picture in the shooting process;
determining whether the camera external parameters need to be updated;
when the camera external parameters need to be updated, acquiring display information of the target picture, obtaining the corrected external parameters according to the display information and the mapping relation between the display information and the corrected external parameters, updating the camera external parameters into the corrected external parameters, and correcting the target picture according to the corrected external parameters;
and when the external parameters of the camera do not need to be updated, executing the operation of matching the target parameters with the preset parameters.
7. The method of claim 6, wherein the determining whether the camera external parameters need to be updated comprises:
monitoring a state of the electronic device;
when the electronic equipment is monitored to break down within a preset time period, determining that external parameters of the camera need to be updated;
and when the electronic equipment is monitored not to be broken in the preset time period, determining not to update the external parameters of the camera.
8. The method according to claim 6 or 7, wherein the obtaining of the display information of the target picture when the external parameter needs to be updated, obtaining the corrected external parameter according to the display information and the mapping relationship between the display information and the corrected external parameter, updating the external parameter to the corrected external parameter, and correcting the target picture according to the corrected external parameter comprises:
when the camera external parameters need to be updated, acquiring the characteristic information of a plurality of areas positioned at different positions in the target picture;
when the plurality of areas contain effective characteristic information, acquiring display information of the target picture;
updating the camera external parameter to the correction external parameter according to the display information and the mapping relation between the display information and the correction external parameter;
obtaining an appearance parameter mapping matrix of the display information and the corrected display information according to the camera appearance parameter and the corrected appearance parameter;
and obtaining the corrected display information according to the external parameter mapping matrix and the display information, and correcting a target picture according to the corrected display information.
9. The utility model provides a binocular shooting orthotic devices, is applied to electronic equipment, its characterized in that includes:
the acquisition module is used for acquiring camera internal and external parameters corresponding to a current picture in a shooting process;
the processing module is used for updating the camera internal and external parameters into corrected internal and external parameters if the camera internal and external parameters need to be updated and the current picture is determined to be a target picture, correcting the current picture according to the corrected internal and external parameters and storing the corrected internal and external parameters into preset parameters;
and the processing module is further used for matching the numerical values of the camera internal and external parameters with the numerical values of the preset parameters if the camera internal and external parameters are determined to be required to be updated and the current picture is a non-target picture, calling the parameters matched with the camera internal and external parameters in the preset parameters when the numerical values of the camera internal and external parameters are matched with the numerical values of the preset parameters, and correcting the current picture according to the matched parameters.
10. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-8.
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