CN113163130B

CN113163130B - Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment

Info

Publication number: CN113163130B
Application number: CN202110321301.4A
Authority: CN
Inventors: 姜靖翔; 泮婕
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2023-04-07
Anticipated expiration: 2041-03-25
Also published as: WO2022199542A1; CN113163130A

Abstract

The application discloses a shooting auxiliary device, a calibration method for image acquisition and an electronic device, relates to the technical field of image acquisition, and can accurately acquire image data. The shooting assistance apparatus includes: a drive assembly; the holder assembly is connected with the driving assembly; the first mounting part and the second mounting part are arranged on the holder component; when the driving assembly drives the holder assembly to move, the holder assembly can drive the first mounting part and the second mounting part to move; the first installation part is used for fixing the first image acquisition device, and the second installation part is used for fixing the second image acquisition device; and the alignment mechanism is connected with the second mounting part and is used for adjusting the specific position of the second mounting part so as to align the optical center of the second image acquisition device with the optical center of the first image acquisition device. The shooting auxiliary equipment can efficiently collect image pairs.

Description

Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment

Technical Field

The application belongs to the technical field of image acquisition, and particularly relates to a shooting auxiliary device, an image acquisition calibration method and an electronic device.

Background

With the continuous development of image acquisition and processing technologies, a technology of acquiring a real scene by using image acquisition equipment and constructing a virtual scene according to the real scene by using a computer is widely applied.

In order to build a virtual scene, a corresponding virtual scene model needs to be built. In order to improve the accuracy of the virtual scene model, image pairs (also called image data pairs) under the real scene need to be acquired, so that the image pairs are used for training the virtual scene model. The image pair is typically acquired in the following manner: and adopting different image acquisition devices to sequentially acquire images of the same real scene at the same position aiming at the same real scene, thereby obtaining an image pair corresponding to the real scene. In order to ensure the accuracy of the image pair, it is generally required to ensure that the optical centers of different image capturing devices are located at the same position during image capturing, so that the perspective relationship between the two devices is consistent.

One of the disadvantages in the related art is that it is difficult to ensure that the optical centers of different image capturing devices are located at the same position during the process of capturing the image pair, so that the accuracy of the captured image pair is not ideal.

Disclosure of Invention

The application aims to provide the shooting auxiliary equipment, the calibration method for image pair acquisition and the electronic equipment, so as to solve the technical problem that the accuracy of the image pair acquired in the related technology is not ideal enough.

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 a shooting assistance apparatus, including: a drive assembly; the holder assembly is connected with the driving assembly; the first mounting part and the second mounting part are arranged on the holder component; when the driving assembly drives the holder assembly to move, the holder assembly can drive the first mounting part and the second mounting part to move; the first installation part is used for fixing the first image acquisition device, and the second installation part is used for fixing the second image acquisition device; and the alignment mechanism is connected with the second mounting part and is used for adjusting the specific position of the second mounting part so as to align the optical center of the second image acquisition device with the optical center of the first image acquisition device.

In a second aspect, an embodiment of the present application provides a calibration method for image pair acquisition, which is applied to the shooting assistance device according to the first aspect of the present invention, and the method includes: acquiring a calibration image of a calibration object at a target position through a first image acquisition device, wherein the first image acquisition device is fixed on a first installation part on the shooting auxiliary equipment; the driving assembly on the shooting auxiliary equipment drives the holder assembly to move and drives the first installation part and the second installation part to move so as to move the second installation part to a target position; the specific position of the second mounting portion is adjusted by an alignment mechanism in the photographing assistant device, so that the image of the calibration object in the lens of the second image acquisition device is superposed with the calibration image; the second image acquisition device is fixed on the second mounting part.

In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and when the program or instructions are executed by the processor, the steps of the method for calibrating image acquisition according to the second aspect of the present application are implemented.

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 calibration method for image pair acquisition according to the second aspect of the present application.

The shooting auxiliary assembly that this application embodiment provided includes drive assembly, cloud platform subassembly, first installation department, second installation department and alignment mechanism. Because drive assembly and cloud platform subassembly interconnect, consequently drive assembly can drive the removal of cloud platform subassembly to from this drive set up first installation department and the removal of second installation department on the cloud platform subassembly. As such, on the one hand, the movement mechanism is able to adjust the relative position between the first mounting portion and the second mounting portion. On the other hand, because the alignment mechanism is connected with the second installation part and can adjust the specific position of the second installation part, the alignment mechanism can adjust the relative position of the second installation part and the first installation part after the second installation part is moved, so as to finely adjust the image acquisition device. Therefore, the shooting auxiliary equipment provided by the embodiment of the application can enable the image acquisition device to acquire the image pair with higher precision.

Further, the first installation part and the second installation part of the shooting auxiliary equipment can be used for installing a first image acquisition device and a second image acquisition device in the image acquisition devices respectively. Therefore, after the first image acquisition device finishes image acquisition, the moving mechanism can move the first image acquisition device away from the image acquisition position and move the second image acquisition device to the image acquisition position. Therefore, the image acquisition efficiency of the first image acquisition device and the second image acquisition device can be improved, and the image pair can be acquired quickly and efficiently.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is one of schematic perspective views of a shooting assistance apparatus provided in an embodiment of the present application;

fig. 2 is a second schematic perspective view of a shooting assistance device according to an embodiment of the present application;

fig. 3 is a schematic perspective view of a moving mechanism according to an embodiment of the present disclosure;

fig. 4 is a second schematic perspective view of a moving mechanism according to an embodiment of the present application;

fig. 5 is a third schematic perspective view of a moving mechanism according to an embodiment of the present application;

fig. 6 is a fourth schematic perspective view of a moving mechanism provided in the embodiment of the present application;

FIG. 7 is a schematic view of a first support assembly according to an embodiment of the present disclosure;

fig. 8 is a second schematic view illustrating a position of the first supporting component according to the embodiment of the present application;

FIG. 9 is a schematic illustration of a mating relationship between a first support assembly and a second support assembly provided by an embodiment of the present application;

FIG. 10 is a schematic diagram of a mating relationship between a moving mechanism and a support mechanism provided in an embodiment of the present application;

FIG. 11 is a flowchart illustrating steps of a method for calibrating an image acquisition provided by an embodiment of the present application;

FIG. 12 is a block diagram illustrating an electronic device provided by an embodiment of the present application;

fig. 13 is a schematic diagram of a calibration plate and a calibration object used in the calibration method for image acquisition according to the embodiment of the present application.

Reference numerals:

an electronic device: 10, a processor: 20, a memory: 30, calibration plate: 40, calibration object: 50, an image acquisition device: 100, a shooting assistance apparatus: 200, a moving mechanism: 300, a driving assembly: 310, a holder assembly: 320, a turntable: 322, second connecting piece: 324, flange: 326, a bearing: 328, outer ring: 3282, inner ring: 3284, washer: 3286, first mounting part: 330, mounting groove: 332, second mounting portion: 340, a first support component: 350, first supporting leg: 352, first support plate: 354, second support assembly: 360, the second supporting leg: 362, second support plate: 364, alignment mechanism: 400, a first adjustment assembly: 410, a first slider: 412, a first knob: 414, first knob holder: 416, a second adjustment assembly: 420, second slider: 422, a second knob: 424, second knob holder: 426, a second slide rail: 428, third adjustment assembly: 430, a first connector: 432, third knob: 434, first connector mounting site: 436, a fourth adjustment assembly: 440, a bracket mechanism: 500, guide leg: 510, telescopic legs: 520, a tripod: 530, an adjusting seat: 540, nut: 522, limit part: 530, first stopper: 532, second limit piece: 534, a travel switch: 600, a stopper: 700, a first image acquisition device: 800, a second image acquisition device: 900, first direction: x, a second direction: y, third direction: z, guide direction: D.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting 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 features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specified. 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.

In the description of the present application, it is to be understood that the terms "vertical," "horizontal," "clockwise," "counterclockwise," and the like refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the application.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The following describes, with reference to fig. 1 to 13, a shooting assistance device 200, a calibration method for image pair acquisition, and an electronic device 10 provided in the embodiment of the present application.

With the rapid development of computer technology, virtual scene construction technology is widely applied in many fields such as animation production, game development and the like. In order to establish a virtual scene model with high reality degree and good visual experience, design developers need to adopt a one-to-one image pair to train the virtual scene model.

Generally, the one-to-one image pair is obtained mainly in the following two ways: one is to acquire a one-to-one image pair by a degenerate generation method. The advantage of the degenerate generation approach is that a large number of training sets can be generated quickly, but the disadvantage is that it is difficult to simulate real scenes. Especially, the degradation in complex scenes (for example, the degradation of data under the screen) includes not only the blurring processing and the noise processing, but also the influence of the screen on the imaging of the camera needs to be considered. The way in which the degradation is generated is complicated. The other is to acquire a one-to-one image pair in a real scene. The acquisition of one-to-one image pairs in a real scene needs to be carried out at the same position in the same scene by adopting two different image acquisition devices to acquire images successively. The image acquisition results obtained by two different image acquisition devices form a one-to-one image pair. The virtual scene model is trained by adopting the one-to-one image pair collected in the real scene, which is beneficial to improving the precision and visual effect of the virtual scene model. In particular, in application scenes in which Image quality enhancement needs to be performed, such as face enhancement, image Signal Processing (ISP), dim light brightening Processing, defogging Processing, and denoising Processing, a one-to-one Image pair has a particularly significant effect in training a virtual scene model. The method for acquiring the one-to-one image pair in the real scene can solve the defects of the degradation generation method, but the acquisition of the one-to-one image pair in the real scene is difficult, time-consuming and labor-consuming. The reason for this is that: the optical centers of two image acquisition devices for realizing one-to-one image acquisition are difficult to realize accurate alignment, so that the perspective relation of the two acquired images has difference, and in order to correct the difference, the image acquisition result needs to be processed in a complex post-processing manner with time and labor consumption.

As shown in fig. 1 and fig. 2, in order to accurately and efficiently acquire a one-to-one image pair in a real scene, an embodiment of the present application provides a shooting assistance apparatus 200, including: the drive assembly 310, the pan and tilt head assembly 320 connected with the drive assembly 310, and the first installation part 330 and the second installation part 340 arranged on the pan and tilt head assembly 320. When the driving assembly 310 drives the holder assembly 320 to move, the holder assembly 320 can drive the first mounting portion 330 and the second mounting portion 340 to move. The first mounting portion 330 is used for fixing the first image capturing device 800, and the second mounting portion 340 is used for fixing the second image capturing device 900. The alignment mechanism 400 is connected to the second mounting part 340 for adjusting the specific position of the second mounting part 340 so that the optical center of the second image capturing device 900 is aligned with the optical center of the first image capturing device 800. Optionally, the number of the image capturing devices in this embodiment may be two, and the two image capturing devices are the first image capturing device 800 and the second image capturing device 900 respectively. Among them, the first image capturing device 800 and the second image capturing device 900 may be two different types of image capturing devices, such as: the first image capturing device 800 may be a single lens reflex camera, and the second image capturing device 900 may be a smart phone having a camera function; alternatively, the first image capturing device 800 may be a smart phone having a camera function, and the second image capturing device 900 may be a digital camera. Furthermore, the first image capturing device 800 and the second image capturing device 900 may also be two image capturing devices with different performance parameters or function settings, such as: the first image acquisition device 800 and the second image acquisition device 900 are single lens reflex cameras, but the resolutions of the two are different; alternatively, the first image capturing device 800 and the second image capturing device 900 are both smartphones having a camera function, but the exposure levels of the two devices are different.

It should be noted that, in the embodiment of the present application, the shooting assistance device 200 may be used to support and fix an image capturing apparatus. Among them, the photographing assistant device 200 may include a moving mechanism 300 and an alignment mechanism 400. The moving mechanism 300 specifically includes a driving assembly 310, a pan-tilt assembly 320 connected to the driving assembly 310, and a first mounting portion 330 and a second mounting portion 340 disposed on the pan-tilt assembly 320. The moving mechanism 300 can control the first image capturing device 800 and the second image capturing device 900 to move so as to move the first image capturing device 800 away from the image capturing position after the first image capturing device 800 completes image capturing, and move the second image capturing device 900 to the image capturing position. The alignment mechanism 400 can adjust the relative positions of the first image capturing device 800 and the second image capturing device 900 by adjusting the relative positions of the second mounting portion 340 and the first mounting portion 330 after the second image capturing device 900 moves to the image capturing position, so that the optical center position of the second image capturing device 900 during image capturing and the optical center position of the first image capturing device 800 during image capturing are aligned. The optical centers of the first image capturing device 800 and the second image capturing device 900 are aligned when capturing images, which means that the optical center of the first image capturing device 800 is located at a position coinciding with the optical center of the second image capturing device 900 when capturing images. In other words, the transmission relationship of the real scene acquired by the first image acquisition device 800 when acquiring the image is consistent with the transmission relationship of the real scene acquired by the second image acquisition device 900 when acquiring the image.

Optionally, in this embodiment of the application, the driving assembly 310 may specifically be a motor, which has a power output shaft, and the power output shaft is directly connected or indirectly connected to the pan/tilt head assembly 320, so that the driving assembly 310 can drive the pan/tilt head assembly 320 to move. The first and second mounting

portions

330 and 340 may move with the pan and tilt head assembly 320 while in motion. The first mounting portion 330 may be used to mount the first image capturing device 800 and the second mounting portion 340 may be used to mount the second image capturing device 900. In this way, the positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 can be changed along with the movement of the pan/tilt head assembly 320.

Optionally, in this embodiment of the application, the driving assembly 310 may control the pan-tilt assembly 320 to rotate, turn, move along a straight line, or move along a curved line. Such as: the power output shaft of the driving assembly 310 is directly connected with the pan/tilt head assembly 320, and the driving assembly 310 controls the pan/tilt head assembly 320 to perform a rotating motion or a turning motion. For another example: the power output shaft of the driving assembly 310 is indirectly connected with the holder assembly 320 through components such as a crank slider, a gear rack or a ball screw, and the driving assembly 310 controls the holder assembly 320 to move along a straight line or a curve through self rotation.

In the embodiment of the present application, when performing one-to-one image acquisition in a real scene, the first image acquisition device 800 mounted on the first mounting portion 330 may be first placed at an image acquisition position, so as to perform image acquisition by using the first image acquisition device 800. After the first image capturing device 800 finishes the image capturing operation, the pan/tilt head assembly 320 drives the first mounting portion 330 and the first image capturing device 800 mounted on the first mounting portion 330 to leave the image capturing position under the control of the driving assembly 310, and drives the second mounting portion 340 and the second image capturing device 900 mounted on the second mounting portion 340 to move to the image capturing position, and adjusts the relative position of the second mounting portion 340 and the first mounting portion 330 through the aligning mechanism 400, so that the second image capturing device 900 starts the image capturing operation after the aligning and preparing process is finished.

In a possible implementation manner, the first mounting portion 330 and the second mounting portion 340 of the embodiment of the present application may be arranged at intervals along a linear direction on the holder assembly 320. After the first image capturing device 800 finishes the image capturing operation, the pan/tilt assembly 320 moves in a linear direction under the control of the driving assembly 310. Therefore, the pan/tilt head assembly 320 drives the first image capturing device 800 to leave the image capturing position, and drives the second image capturing device 900 to move to the image capturing position.

In another possible implementation manner, in the embodiment of the present application, the first image capturing device 800 mounted on the first mounting portion 330 faces the image capturing scene, and the second image capturing device 900 mounted on the second mounting portion 340 faces away from the image capturing scene, and are respectively disposed at two opposite ends of the pan/tilt head assembly 320. After the first image capturing device 800 completes the image capturing operation, the pan/tilt head assembly 320 rotates 180 ° along the axis under the control of the driving assembly 310. At this time, the pan/tilt head assembly 320 drives the first installation part 330 and the second installation part 340 to move, so that the positions of the first image capturing device 800 and the second image capturing device 900 are interchanged. Thus, the first image capture device 800 moves to the position where the second image capture device 900 was originally placed, and the first image capture device 800 faces away from the image capture scene; the second image capturing device 900 is moved to the image capturing position where the first image capturing device 800 is originally placed, and the second image capturing device 900 faces the image capturing scene.

In another possible implementation manner, in this embodiment of the application, the first installation portion 330 and the second installation portion 340 may be further disposed at a central position of the pan/tilt head assembly 320, a lens of the first image capturing device 800 faces a real scene, and a lens of the second image capturing device 900 faces away from the real scene. After the first image capturing device 800 mounted on the first mounting portion 330 completes the image capturing operation, the pan/tilt head assembly 320 is rotated by 180 ° along the axis under the control of the driving assembly 310. Therefore, the holder assembly 320 drives the second image capturing device 900 installed on the second installation portion 340 to be turned over to the position where the first image capturing device 800 is originally placed, and drives the first image capturing device 800 installed on the first installation portion 330 to be turned over to the position where the second image capturing device 900 is originally placed.

With the above-described embodiment, the moving mechanism 300 can move the first image capturing device 800 mounted on the first mounting portion 330 away from the image capturing position and move the second image capturing device 900 mounted on the second mounting portion 340 to the image capturing position after the first image capturing device 800 mounted on the first mounting portion 330 completes the image capturing operation. On this basis, in order to ensure the accuracy of the one-to-one image pair acquired in the real scene, in the embodiment of the present application, before the second image acquisition device 900 starts image acquisition, the alignment mechanism 400 may first perform fine adjustment on the position of the second image acquisition device 900, so as to adjust the optical center of the second image acquisition device 900 to the position where the optical center of the first image acquisition device 800 is located when the first image acquisition device 800 performs image acquisition, so that the perspective relationship of the image acquired by the second image acquisition device 900 may be consistent with the perspective relationship of the image acquired by the first image acquisition device 800, and the accuracy of the one-to-one image pair is ensured.

Specifically, since the first and second mounting

portions

330 and 340 are respectively provided on the head assembly 320, the respective positions of the first and second mounting

portions

330 and 340 are changed when the driving assembly 310 controls the movement of the head assembly 320. In the above process, due to factors such as differences in size and configuration of the first image capturing device 800 and the second image capturing device 900, errors in the structure and stroke control of the devices, stability of the installation environment of the devices, and vibrations generated during the operation of the devices, the difference between the optical center position of the second image capturing device 900 after being moved to the image capturing position and the optical center position of the first image capturing device 800 at the image capturing position may occur.

In other words, after the first and second mounting

portions

330 and 340 are moved to the image capturing positions, the perspective relationship of the real scene captured by the second image capturing device 900 when moved to the image capturing positions may not be consistent with or slightly deviate from the perspective relationship of the real scene captured by the first image capturing device 800 when moved to the image capturing positions. Therefore, in order to ensure the accuracy of the one-to-one image pair acquired in the real scene, the embodiment of the present application provides the alignment mechanism 400 in the shooting assistance apparatus 200. Since the alignment mechanism 400 is connected to the second mounting portion 340, the alignment mechanism 400 can control the second mounting portion 340 to move or rotate, and thereby adjust the relative position between the second mounting portion 340 and the first mounting portion 330, so as to ensure that the perspective relationship of the real scene acquired by the second image capturing device 900 after moving to the image capturing position is consistent with the perspective relationship of the real scene acquired by the first image capturing device 800 at the image capturing position.

In summary, in the embodiment of the present application, the positions of the first image capturing device 800 and the second image capturing device 900 can be switched or adjusted through the moving mechanism 300, and after the positions of the first image capturing device 800 and the second image capturing device 900 are switched or adjusted, the optical center positions of the first image capturing device 800 and the second image capturing device 900 during image capturing can be kept consistent through the alignment mechanism 400. Therefore, the embodiment of the application can obtain the one-to-one image pair with higher precision degree in the real scene, so that the real degree and the visual experience of the virtual scene model are guaranteed to be improved, and the time cost and the labor cost for implementing the post-processing on the one-to-one image pair are reduced.

In addition, the moving mechanism 300 can also quickly and efficiently switch or adjust the positions of the first image capturing device 800 and the second image capturing device 900, can efficiently capture images of a real scene in a changing state, and is particularly suitable for application scenes in which the capturing objects are in a changing state, such as facial expression capturing, human motion capturing, and the like.

Alternatively, as shown in fig. 3 and 4, in some embodiments of the present application, the alignment mechanism 400 may include, connected to the second mounting portion 340: a first adjustment assembly 410, a second adjustment assembly 420, and a third adjustment assembly 430. The first adjusting component 410 is used for adjusting the second mounting portion 340 to move along a first direction (referred to as a first direction X). The second adjustment assembly 420 is used for adjusting the second mounting portion 340 to move along a second direction (referred to as a second direction Y). The third adjustment assembly 430 is used for adjusting the second mounting portion 340 to move along a third direction (referred to as a third direction Z).

Optionally, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other, that is, the first direction X and the second direction Y are perpendicular to each other, and the third direction Z is perpendicular to the first direction X and the second direction Y, respectively.

In the embodiment of the present application, the first adjustment assembly 410, the second adjustment assembly 420, and the third adjustment assembly 430 may be respectively used to adjust the position of the second mounting portion 340 in different directions. For example, the first direction X and the second direction Y are parallel to a horizontal plane and perpendicular to each other, respectively, and the third direction Z is perpendicular to the horizontal plane. Thus, the first, second, and

third adjustment assemblies

410, 420, and 430 can flexibly adjust the position of the second mounting part 340 in a three-dimensional planar orthogonal coordinate system to change the relative position between the first and second mounting

parts

330 and 340 in any direction.

Optionally, as shown in fig. 6, in some embodiments of the present application, the alignment mechanism 400 may further include a fourth adjustment assembly 440 connected to the second mounting portion 340. The fourth adjustment assembly 440 is used to adjust the rotation of the second mounting portion 340 in either a clockwise or counterclockwise direction.

In the embodiment of the present application, since the fourth adjusting component 440 can control the second mounting portion 340 to rotate, the fourth adjusting component 440 can change the relative position between the first mounting portion 330 and the second mounting portion 340, so as to further ensure that the optical center positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 are kept consistent when performing image capturing.

It should be noted that the first adjusting assembly 410, the second adjusting assembly 420, the third adjusting assembly 430 and the fourth adjusting assembly 440 can be adjusted and controlled manually by an operator, or can be adjusted and controlled mechanically by a device such as a stepping motor. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

Optionally, as shown in fig. 5, in some implementations of the embodiments of the present application, the first adjusting assembly 410 may include: a first slider 412 and a first knob 414. The first slider 412 is connected with the pan/tilt head assembly 320 in a sliding manner and is connected with the second mounting portion 340. The first knob 414 is used for adjusting the first slider 412 to slide along the first direction X relative to the pan and tilt head assembly 320.

Specifically, the first sliding block 412 may be disposed on the pan/tilt head assembly 320, and is slidably connected to the pan/tilt head assembly 320 through a first sliding rail (not shown) arranged along the first direction X. The second mounting portion 340 is provided on the first slider 412. The second mounting portion 340 may be directly connected to the first slider 412 or indirectly connected to the first slider 412. The first knob 414 is connected to the first sliding block 412, and can adjust the first sliding block 412 to slide along the first direction X on the first sliding rail relative to the pan/tilt head assembly 320. In addition, in order to support the first knob 414, the embodiment of the present application is further provided with a first knob bracket 416 on the pan/tilt head assembly 320. The first knob 414 extends through the first knob bracket 416 and is rotatable within the first knob bracket 416. An operator rotates the first knob 414 to make the first slider 412 move linearly along the first direction X under the action of the first knob 414, so that the first slider 412 and the first knob 414 which are matched with each other can smoothly adjust the position of the second mounting part 340 along the first direction X, and the structure is simple and easy to operate and control.

Optionally, as shown in fig. 5 and fig. 6, in some embodiments of the present application, the second adjusting assembly 420 may include: a second slider 422 and a second knob 424. The second slider 422 is slidably coupled to the first slider 412 and coupled to the second mounting portion 340. The second knob 424 is used for adjusting the sliding of the second slider 422 relative to the first slider 412 along the second direction Y.

Specifically, the second slider 422 may be disposed on the first slider 412 and slidably coupled with the first slider 412 by a second slide rail 428 arranged along the second direction Y. The second mounting portion 340 is directly connected to the second slider 422 and is indirectly connected to the first slider 412 through the second slider 422. The second knob 424 is connected to the second slider 422, and can adjust the second slider 422 to slide on the second slide rail along the second direction Y relative to the first slider 412. In addition, in order to support the second knob 424, the second knob bracket 426 is further provided on the first slider 412 according to the embodiment of the present disclosure. The second knob 424 extends through the second knob holder 426 and is rotatable within the second knob holder 426. The operator rotates the second knob 424 to make the second slider 422 move linearly along the second direction Y under the action of the second knob 424. Second slider 422 and first slider 412 mutually support and sliding connection, and first slider 412 can play the spacing effect of support to second slider 422. Accordingly, the second adjustment assembly 420 can smoothly adjust the position of the second mounting part 340 in the second direction Y.

Optionally, as shown in fig. 3 and 4, in some embodiments of the present application, the third adjusting assembly 430 may include: a first connector 432 and a third knob 434. The first connecting member 432 is connected to the second mounting portion 340 and the second slider 422, respectively. And the third knob 434 is used for adjusting the sliding of the second mounting part 340 relative to the first connecting part 432 along the third direction Z.

Optionally, in this embodiment of the application, the first connecting element 432 may specifically be an angle connecting element. That is, the two ends of the first connecting member 432 are bent at 90 ° to each other to define a right-angled structure. One end of the first connecting part 432 is fixedly connected with the second slider 422, and the other end is movably connected with the second mounting part 340. The third knob 434 extends into the first connecting member 432 and is fixedly connected to the second mounting portion 340, and the third knob 434 is rotatably connected to the first connecting member 432. Therefore, the third knob 434 can rotate in the first connecting member 432 to drive the second mounting portion 340 to move along the third direction Z, so as to change the relative positions of the first mounting portion 330 and the second mounting portion 340 along the third direction Z. Since the first connecting member 432 is connected to the second sliding block 422 and the second sliding block 422 is connected to the first sliding block 412, the first adjusting assembly 410 can support the second adjusting assembly 420 and the third adjusting assembly 430 to ensure that the alignment mechanism 400 smoothly controls the movement of the second mounting part 340 and accurately adjusts the position of the second mounting part 340.

Optionally, in some embodiments of the present application, the second slider 422 is provided with a plurality of first connector mounting positions 436, and the first connector mounting positions 436 may be screw holes. The first connectors 432 may be detachably connected to any one or more of the first connector mounting locations 436 by screws.

Optionally, in some embodiments of the present application, when the first image capturing device 800 mounted on the first mounting portion 330 captures an image, the optical center thereof is substantially parallel to the second direction Y, and the lens thereof faces the image capturing scene. When the first image capturing device 800 captures an image, the optical center of the second image capturing device 900 mounted on the second mounting portion 340 is also substantially parallel to the second direction Y, and the lens thereof faces away from the image capturing scene. The first image capturing device 800 and the second image capturing device 900 are substantially parallel and are disposed at opposite ends of the pan/tilt head assembly 320, respectively. When the driving assembly 310 controls the pan/tilt head assembly 320 to rotate, the pan/tilt head assembly 320 can drive the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 to move. When the first image capturing device 800 finishes capturing an image and the second image capturing device 900 moves to the image capturing position where the first image capturing device 800 is originally placed, the operator can manually or mechanically control the alignment mechanism 400 to adjust the relative positions of the second mounting portion 340 and the first mounting portion 330, so that the optical center of the second image capturing device 900 at the image capturing position is consistent with the optical center of the first image capturing device 800 at the image capturing position. It is understood that the substantial parallelism includes absolute parallelism in a strict sense and also includes non-absolute parallelism within a reasonable error range in practical implementation.

Alternatively, as shown in fig. 5 and 6, in some embodiments of the present application, the first mounting portion 330 may include: mounting slot 332 and a first clamping member (not shown). Mounting slot 332 is disposed on pan/tilt assembly 320. The first clamping member is disposed through the mounting groove 332 and is movable in the mounting groove 332.

Specifically, pan and tilt head assembly 320 includes a turntable 322 and a second connector 324 disposed on turntable 322. The second connector 324 has a plate-shaped structure, and the mounting groove 332 is disposed through the second connector 324. The first clamping member may be a quick-mounting plate, which extends into the mounting groove 332 from bottom to top and is connected to the first image capturing device 800 mounted on the first mounting portion 330 during mounting and use. The fitting groove 332 and the first clamping member, which are fitted with each other, can stably connect and fix the first image pickup device 800.

It should be noted that when performing one-to-one image acquisition in a real scene, two image acquisition devices (such as a single lens reflex camera and a smartphone with a camera function) with different image acquisition qualities are generally required to perform image acquisition. The mounting groove 332 and the first clamping member may be suitable for connecting and fixing a single lens reflex camera with a large weight and a large volume. Further, since the first clamping member is movable in the mounting groove 332, the first mounting portion 330 including the mounting groove 332 and the first clamping member can flexibly adjust the mounting position of the first image capturing device 800 to an appropriate degree to ensure that the first image capturing device 800 is disposed at a desired image capturing position.

Optionally, as shown in fig. 5, in some embodiments of the present application, the holder assembly 320 may include: turntable 322 and second connector 324. Turntable 322 is coupled to drive assembly 310. The second connector 324 may be provided on the turntable 322, the first mounting part 330 may be provided on the second connector 324, and the second mounting part 340 may be connected to the second connector 324 through the alignment mechanism 400. Wherein the driving assembly 310 is used for driving the turntable 322 and the second connecting member 324 to rotate.

Specifically, the rotary table 322 is connected to the power output shaft of the driving assembly 310, and the second connecting member 324 may be a bar-shaped connecting plate provided on the rotary table 322. The first mounting portion 330 and the alignment mechanism 400 are disposed at opposite ends of the second link 324, respectively. The second mounting portion 340 is disposed on the alignment mechanism 400. When the driving assembly 310 drives the turntable 322 and the second connecting member 324 to rotate, the first mounting portion 330 on the second connecting member 324 and the second mounting portion 340 on the alignment mechanism 400 rotate along with the second connecting member 324. Wherein, when the driving assembly 310 drives the rotary table 322 and the second connecting member 324 to rotate 180 degrees, the first mounting portion 330 and the second mounting portion 340 which are oppositely arranged can be interchanged in position. The above embodiment drives the turntable 322 and the second connector 324 to rotate through the driving assembly 310 to rapidly switch the positions of the first and second mounting

parts

330 and 340.

Alternatively, as shown in fig. 7 and 8, in some embodiments of the present application, the turntable 322 may include: a flange 326 and a bearing 328. Flange 326 is coupled to drive assembly 310 and second coupling 324. A bearing 328 is disposed about flange 326 and between drive assembly 310 and second coupling 324.

Wherein the flange 326 connects the driving assembly 310 and the second connecting member 324, so that the driving assembly 310 can drive the second connecting member 324 to rotate in the working state. A bearing 328 is positioned between the drive assembly 310 and the second link 324 to reduce frictional losses as the second link 324 rotates. The bearing 328 includes an outer race 3282 and an inner race 3284 disposed in the outer race 3282. A washer 3286 is further provided on the inner ring 3284. Outer race 3282 of bearing 328 is secured to first support assembly 350, and drive assembly 310 may control rotation of inner race 3284 within outer race 3282. As the inner ring 3284 rotates, the washer 3286 follows the inner ring 3284. The washer 3286 prevents the second connector 324 from directly contacting the bearing 328, so as to further reduce the friction loss when the second connector 324 rotates.

Optionally, as shown in fig. 6 and 9, in some embodiments of the embodiment of the present application, the shooting assistance device 200 may further include: a first support member 350. First support assembly 350 is coupled to pan and tilt head assembly 320 and is configured to support pan and tilt head assembly 320.

The first support assembly 350 may include, among other things, a first support foot 352 and a first support plate 354. The first support plate 354 is a support plate having a plate-like structure. The first supporting legs 352 may be provided in a plurality and spaced apart on the first supporting plate 354. The first support leg 352 protrudes relative to a surface of the first support plate 354 and is connected to the head assembly 320. Specifically, the plurality of first support feet 352 are each connected to the outer race 3282 of the bearing 328 of the pan and tilt head assembly 320. First support assembly 350 may be configured to support pan and tilt assembly 320 to ensure that pan and tilt assembly 320 is able to move smoothly.

Alternatively, in the embodiment of the present application, the driving assembly 310 may be specifically disposed at a lower portion of the first supporting assembly 350, and the holder assembly 320 may be specifically disposed at an upper portion of the first supporting assembly 350. This arrangement can lower the center of gravity of the pan/tilt head assembly 320, thereby further ensuring that the pan/tilt head assembly 320 can move smoothly.

Optionally, as shown in fig. 6 and 9, in some embodiments of the embodiment of the present application, the shooting assistance device 200 may further include: a second support assembly 360. The second support assembly 360 is coupled to the driving assembly 310 and serves to support the driving assembly 310.

Wherein second support assembly 360 may include a second support foot 362 and a second support plate 364. The second support plate 364 is a support plate having a flat plate-like structure. The number of the second supporting legs 362 may be plural, and the second supporting legs are spaced apart from each other on the second supporting plate 364. The second support foot 362 protrudes with respect to the surface of the second support plate 364 and is connected with the first support plate 354. Specifically, the second support legs 362 are connected to the edges of the first support plate 354, respectively. The second support assembly 360 may be used to support the driving assembly 310 to reduce the vibration of the driving assembly 310 in the operating state, thereby further ensuring the stable movement of the pan/tilt head assembly 320.

Optionally, as shown in fig. 10, in some implementations of the embodiments of the present application, the shooting assistance apparatus 200 may further include: a bracket mechanism 500. The support mechanism 500 is coupled to the pan and tilt head assembly 320 and is configured to support the pan and tilt head assembly 320 and the alignment mechanism 400.

The support mechanism 500 may specifically include a tripod 530 and an adjustment base 540. The adjustment base 540 is disposed below the pan and tilt head assembly 320 and is connected to the pan and tilt head assembly 320. The tripod 530 is disposed under the adjustment base 540 and is rotatably coupled with the adjustment base 540 by a member such as a rotating shaft. When the adjusting base 540 rotates relative to the tripod 530, the adjusting base 540 may drive the holder assembly 320 to rotate, so as to change the image capturing angle of the image capturing device.

Alternatively, as shown in fig. 1 and 2, in some embodiments of the present application, the support mechanism 500 may include: at least two guide legs 510 and at least two telescoping legs 520. The at least two telescoping legs 520 and the at least two guiding legs 510 are spaced apart from each other, and are moved along the guiding direction (denoted as guiding direction D) of the at least two guiding legs 510 by the telescoping driving head assembly 320.

Specifically, at least two guide legs 510 are disposed along one diagonal line of the rectangle, and the length directions thereof are parallel to the vertical direction, respectively. At least two telescopic legs 520 are arranged along the other diagonal of the rectangle, and the length directions of the two are also respectively parallel to the vertical direction. At least two flexible landing legs 520 can realize flexible through flexible lead screw respectively to through nut 522 and cloud platform subassembly 320 fixed connection. At least two guide legs 510 may be movably connected to the head assembly 320. And the at least two telescopic legs 520 can move along the guiding direction D of the at least two guiding legs 510 by telescopically driving the pan-tilt assembly 320, so as to control the position of the pan-tilt assembly 320 to change along the guiding direction D. The guiding direction D of the guiding leg 510 may be a horizontal direction, a vertical direction perpendicular to the horizontal direction, or other directions inclined to the horizontal plane. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

Optionally, as shown in fig. 2, in some embodiments of the present application, the support mechanism 500 may further include: a limiting member 530. The limiting member 530 is fixedly connected to any two of the at least two guide legs 510, and is used for limiting the relative movement of any two of the at least two guide legs 510.

The limiting member 530 may specifically include a first limiting member 532 and a second limiting member 534. The two ends of the first limiting member 532 are respectively and fixedly connected to any two guiding legs 510, the second limiting member 534 and the first limiting member 532 form a cross structure, and the two ends of the second limiting member 534 are also respectively and fixedly connected to any two guiding legs 510.

In the embodiment of the present invention, the limiting member 530 is connected to any two of the guiding legs 510, so that the displacement of any two of the guiding legs 510 caused by the vibration generated when the driving assembly 310 operates can be avoided.

Optionally, as shown in fig. 9, in some embodiments of the embodiment of the present application, the shooting assistance apparatus 200 may further include: a travel switch 600 and a stop 700. The stopper 700 is disposed on the head assembly 320. When the stopper 700 moves to the position of triggering the travel switch 600 following the pan/tilt head assembly 320, the travel switch 600 can be controlled to turn off the driving assembly 310.

The position limiter 700 may be a position limiting rod extending from the top of the holder assembly 320. The travel switch 600 may be specifically disposed on the first support plate 354 of the first support assembly 350. When the second image capturing device 900 mounted on the second mounting portion 340 moves to the image capturing position during the process of the driving assembly 310 controlling the rotation of the pan/tilt head assembly 320, the position limiter 700 correspondingly moves to the position triggering the travel switch 600. At this time, the travel switch 600 may turn off the driving assembly 310 due to being triggered by the stopper 700.

In the embodiment of the present application, the travel switch 600 and the stopper 700, which are engaged with each other, can turn off the driving component 310 in time when the second image capturing device 900 moves to the image capturing position, so as to ensure the travel accuracy of the movement of the second image capturing device 900.

As shown in fig. 11, an embodiment of the present application further provides a calibration method for image pair acquisition, which can be applied to the shooting assistance device according to any of the embodiments of the present application. The calibration method for image pair acquisition may include the following steps S101 to S103:

s101, a first image acquisition device acquires a calibration image of a calibration object at a target position.

Wherein, first image acquisition device is fixed in the first installation department on the shooting auxiliary assembly.

S102, driving the holder assembly to move through a driving assembly on the shooting auxiliary device, and driving the first installation portion and the second installation portion to move so as to move the second installation portion to a target position.

And S103, adjusting the specific position of the second installation part through an alignment mechanism in the shooting auxiliary equipment so as to enable the image of the calibration object in the lens of the second image acquisition device to be superposed with the calibration image.

The second image acquisition device is fixed on the second mounting part.

Optionally, in this embodiment of the application, the calibration object is a laser beam, and the calibration image is an image of an irradiation position of the laser beam in a lens of the first image acquisition device.

Optionally, in this embodiment of the application, the calibration object is a calibration object and a calibration plate, and the calibration image is an image of the calibration object in the lens of the first image capturing device at a specific position on the calibration plate.

Optionally, in this embodiment of the application, after the image of the calibration object in the lens of the second image capturing device is overlapped with the calibration image, the method further includes: by means of the shooting assistance device, a target image pair is acquired for the target object. The target image pair comprises a first image and a second image, the first image is an image of a target object acquired by the first image acquisition device when the first installation part is at the target position, and the second image is an image of the target object acquired by the second image acquisition device when the second installation part is at the target position.

Specifically, in order to achieve the alignment of the optical centers of the second image capturing device and the first image capturing device, the embodiment of the present application first selects the calibration plate 40 and the calibration object 50 as shown in fig. 13. Furthermore, in the embodiments of the present application, the electronic device includes a processor and a memory, where the memory stores a program or instructions executable on the processor, and when the program or instructions are executed by the processor, the electronic device performs the following operations. The electronic device uses the perspective relationship to find the position of the calibration object 50 on the calibration plate 40 under the lens of the first image capturing device (i.e., the calibration position mentioned above). Then, the electronic device drives the pan/tilt assembly to rotate by using the driving assembly, for example, the pan/tilt assembly rotates by 180 °, so that the first image capturing device is displaced and the second image capturing device rotates to the image capturing position originally occupied by the first image capturing device. After the pan-tilt assembly rotates 180 degrees, the limit stop in the shooting auxiliary equipment can trigger the travel switch in the shooting auxiliary equipment, so that the driving assembly in the moving mechanism of the shooting auxiliary equipment is turned off.

Furthermore, after the driving assembly is shut down, the embodiment of the present application adjusts the positions of the front, back, up, down, left, right, and the like of the optical center of the second image capturing device through the alignment mechanism in the shooting assistance apparatus, so that the position of the calibration object on the calibration plate coincides with the above-mentioned calibration position under the lens of the second image capturing device. After the alignment mechanism is adjusted, the image capturing device 100 may be controlled by a component such as a motor to achieve fast and fully automatic one-to-one image pair acquisition. In addition, after the one-to-one image pairs are obtained, the one-to-one image pairs may be further processed in software by using a Scale-invariant feature transform (SIFT) algorithm, so as to further improve the accuracy of the one-to-one image pairs, so as to ensure that perspective relations of the images obtained by the first image acquisition device and the second image acquisition device in the one-to-one image pairs are consistent.

An electronic device is further provided in the embodiment of the present application, and as shown in fig. 12, a schematic structural diagram of the electronic device 10 provided in the embodiment of the present application is provided. The electronic device 10 may include a processor 20, a memory 30, and a program or an instruction stored in the memory 30 and executable on the processor 20, and when the program or the instruction is executed by the processor 20, the steps of the calibration method for image acquisition according to any of the above embodiments of the present application may be implemented, and the same technical effects may be achieved, and for avoiding repetition, details are not repeated here.

It is to be noted that the electronic devices in the embodiments of the present application may include mobile electronic devices and non-mobile electronic devices. By way of example, the mobile electronic device may be a mobile terminal device, such as a mobile phone, a tablet computer, a laptop computer, a palmtop computer, a car-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 non-mobile terminal device, such as a server, a Network Attached Storage (NAS), a Personal Computer (PC), and the like, and the embodiments of the present application are not limited in particular.

The embodiments of the present application further provide a readable storage medium, on which a program or an instruction is stored, and when the program or the instruction is executed by a processor, the steps of the calibration method for image acquisition according to any one of the above embodiments of the present application may be implemented.

The processor described herein may be a processor in the electronic device described in the above embodiments. The readable storage medium described herein may include 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 may include a processor and a communication interface, the communication interface is coupled to the processor, and the processor may be configured to run a program or an instruction to implement each process of the above-mentioned calibration method for image acquisition, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

It is to be understood that the chips provided in the embodiments of the present application may also be referred to as a system-on-chip, or a system-on-chip. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A shooting assistance apparatus characterized by comprising:

a drive assembly;

the holder assembly is connected with the driving assembly;

the first mounting part and the second mounting part are arranged on the holder assembly;

when the driving assembly drives the holder assembly to move, the holder assembly can drive the first mounting part and the second mounting part to move; the first installation part is used for fixing a first image acquisition device, and the second installation part is used for fixing a second image acquisition device;

the alignment mechanism is connected with the second mounting part and used for adjusting the specific position of the second mounting part so as to align the optical center of the second image acquisition device with the optical center of the first image acquisition device;

wherein the pan/tilt assembly moves in a linear direction under the control of the driving assembly under the condition that the first and second mounting portions are arranged on the pan/tilt assembly at intervals in the linear direction; under the condition that the first installation part and the second installation part are respectively arranged at two opposite ends of the holder component, the holder component rotates 180 degrees along the axis under the control of the driving component; first installation department with the second installation department set up in under the central point of cloud platform subassembly puts the condition, the cloud platform subassembly is in drive assembly's control is down along the axis rotation 180.

2. The shooting assistance apparatus according to claim 1, wherein the alignment mechanism includes, connected to the second mounting portion:

the first adjusting assembly is used for adjusting the second mounting part to move along a first direction;

the second adjusting assembly is used for adjusting the second mounting part to move along a second direction;

and the third adjusting component is used for adjusting the second mounting part to move along a third direction.

3. The auxiliary photographing apparatus of claim 2, wherein the alignment mechanism further comprises a fourth adjustment assembly connected to the second mounting portion for adjusting the second mounting portion to rotate in a clockwise direction or a counterclockwise direction.

4. The shooting assistance apparatus according to claim 2, wherein the first adjustment assembly includes:

the first sliding block is connected with the holder assembly in a sliding manner and is connected with the second installation part;

and the first knob is used for adjusting the first sliding block to slide along the first direction relative to the holder assembly.

5. The photographic auxiliary device of claim 4, wherein the second adjustment assembly comprises:

the second sliding block is connected with the first sliding block in a sliding mode and is connected with the second installation part;

and the second knob is used for adjusting the second sliding block to slide along the second direction relative to the first sliding block.

6. The shooting assistance apparatus according to claim 5, wherein the third adjustment member includes:

the first connecting piece is connected with the second mounting part and the second sliding block respectively;

and the third knob is used for adjusting the second mounting part to slide along the third direction relative to the first connecting piece.

7. The shooting assistance apparatus according to any one of claims 1 to 6, wherein the first mounting portion includes:

the mounting groove is arranged on the holder assembly;

the first clamping piece penetrates through the installation groove and is movable in the installation groove.

8. The shooting assistance apparatus according to any one of claims 1 to 6, wherein the pan/tilt head assembly includes:

the rotary table is connected with the driving assembly;

the second connecting piece is arranged on the rotary table, the first mounting part is arranged on the second connecting piece, and the second mounting part is connected with the second connecting piece through the aligning mechanism;

wherein the driving assembly is used for driving the rotary table and the second connecting piece to rotate.

9. The shooting assistance apparatus according to any one of claims 1 to 6, characterized by further comprising:

the first supporting assembly is connected with the holder assembly and is used for supporting the holder assembly; and/or the presence of a gas in the gas,

and the second supporting assembly is connected with the driving assembly and is used for supporting the driving assembly.

10. The shooting assistance apparatus according to any one of claims 1 to 6, characterized by further comprising:

and the support mechanism is connected with the holder assembly and is used for supporting the holder assembly and the alignment mechanism.

11. The shooting assistance apparatus according to claim 10, wherein the stand mechanism comprises:

at least two guide legs;

at least two flexible landing legs, with at least two direction landing leg interval sets up to the accessible is flexible in order to drive the cloud platform subassembly moves along the direction of at least two direction landing legs.

12. The shooting assistance apparatus according to any one of claims 1 to 6, characterized by further comprising:

a travel switch;

the limiter is arranged on the holder assembly;

when the limiting stopper moves to the position triggering the travel switch along with the holder assembly, the travel switch can be controlled to turn off the driving assembly.

13. A calibration method for image acquisition, the method being applied to the shooting assistance apparatus according to any one of claims 1 to 12, characterized in that the method comprises:

acquiring a calibration image of a calibration object at a target position through a first image acquisition device, wherein the first image acquisition device is fixed on a first installation part on the shooting auxiliary equipment;

driving a holder assembly to move through a driving assembly on the shooting auxiliary equipment, and driving the first installation part and the second installation part to move so as to move the second installation part to the target position;

the specific position of the second installation part is adjusted through an alignment mechanism in the shooting auxiliary equipment, so that the image of the calibration object in the lens of the second image acquisition device is superposed with the calibration image; the second image acquisition device is fixed on the second installation part.

14. Calibration method for image pair acquisition according to claim 13,

the calibration object is a laser beam, and the calibration image is an image of the irradiation position of the laser beam in the lens of the first image acquisition device; or the like, or, alternatively,

the calibration object is a calibration object and a calibration plate, and the calibration image is an image of the calibration object at a specific position on the calibration plate in the lens of the first image acquisition device.

15. The method for calibrating image acquisition according to claim 13, wherein after the image of the calibration object is overlapped with the calibration image in the lens of the second image acquisition device, the method further comprises:

acquiring a target image pair for a target object through the shooting auxiliary equipment;

the target image pair comprises a first image and a second image, the first image is the image of the target object acquired by the first image acquisition device when the first installation part is at the target position, and the second image is the image of the target object acquired by the second image acquisition device when the second installation part is at the target position.

16. 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 method of calibration of image pair acquisition as claimed in any one of claims 13 to 15.

17. A readable storage medium, storing thereon a program or instructions which, when executed by a processor, carry out the steps of a method of calibrating an image pair acquisition according to any one of claims 13 to 15.