CN114299167A - Monocular calibration method, system, device and medium for zoom lens - Google Patents
Monocular calibration method, system, device and medium for zoom lens Download PDFInfo
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Abstract
The application relates to a monocular calibration method, a monocular calibration system, a monocular calibration device and a monocular calibration medium for a zoom lens, wherein the monocular calibration method comprises the following steps: uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens, and performing monocular calibration on the camera under each preset focal length; according to the first number of preset focal lengths, camera internal parameters and distortion parameters of the model fitting camera are constructed; according to the monocular calibration result, solving the fitting coefficient of the model by a linear least square method; in the actual engineering operation process, camera internal parameters and distortion parameters of the camera under the actual focal length are obtained through the fitting coefficients according to the actual focal length adjusted by the zoom lens, through the method and the device, the problem of low efficiency caused by the fact that the zoom lens needs to carry out multi-time monocular calibration under the condition of continuous zooming is solved, the zoom lens can directly obtain the camera internal parameters and the distortion parameters which are accurate under any focal length in the continuous zooming process, and therefore the time for calibrating the camera in engineering is shortened.
Description
Technical Field
The present application relates to the field of computer vision, and in particular, to a method, a system, an apparatus, and a medium for monocular calibration of a zoom lens.
Background
At present, the zoom lenses are used in industry in many occasions, the pose of a measured object is accurately obtained through a camera, and corresponding camera internal parameters and lens distortion parameters are obtained by utilizing the accurate focusing of the camera on each focal length.
In general, to obtain camera internal parameters and lens distortion parameters, a zoom lens needs to be adjusted to a specific focal length in specific items, a zoom ring is fixed, and then monocular calibration is performed. Therefore, when the camera acquires the pose of the measured object through the zoom lens, the camera needs to perform corresponding independent monocular calibration for multiple times under different focal lengths of the zoom lens, and more time needs to be consumed in the project progress.
At present, no effective solution is provided for the problem of low efficiency caused by the fact that a zoom lens needs to be calibrated for multiple times in a monocular mode under the condition of continuous zooming in the related technology.
Disclosure of Invention
The embodiment of the application provides a monocular calibration method, a monocular calibration system, a monocular calibration device and a monocular calibration medium for a zoom lens, and aims to at least solve the problem of low efficiency caused by the fact that cameras provided with the zoom lens in the related technology need to perform monocular calibration for multiple times under different focal lengths.
In a first aspect, an embodiment of the present application provides a method for monocular calibration of a zoom lens, where the method includes:
uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens, and performing monocular calibration on the camera under each preset focal length;
according to the first number of preset focal lengths, constructing a linear equation to fit camera internal parameters of the camera;
constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths;
according to the monocular calibration result, fitting coefficients of the linear equation and the polynomial equation are obtained through a linear least square method;
in the actual engineering operation process, according to the actual focal length adjusted by the zoom lens, the camera internal parameter and distortion parameter of the camera under the actual focal length are obtained through the fitting coefficient.
In some embodiments, constructing a linear equation to fit camera intrinsic parameters of the camera according to the first number of preset focal lengths comprises:
dividing the first number of preset focal lengths into a second number of preset focal length intervals, and constructing a linear equation for each section of the preset focal length intervals to fit the camera internal parameters of the camera.
In some embodiments, constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths comprises:
dividing the first number of preset focal lengths into a second number of preset focal length intervals, and constructing a polynomial equation for each section of the preset focal length intervals to fit distortion parameters of the camera.
In some embodiments, obtaining the fitting coefficients of the linear equation and the polynomial equation by a linear least squares method according to the result of the monocular calibration includes:
according to the monocular calibration result, the measured values of the camera internal parameters and the distortion parameters of each section of the preset focal length interval are obtained;
and solving the square sum of the distances between the measured values and the camera parameters of the linear equation fitting and the distortion parameters of the polynomial equation fitting and the linear equation fitting by adopting a linear least square method, and obtaining the fitting coefficient of each section of the preset focal length interval under the condition of the minimum square sum of the distances.
In some embodiments, the obtaining, according to the actual focal length adjusted by the zoom lens, the camera intrinsic parameters and distortion parameters of the camera at the actual focal length through the fitting coefficients includes:
determining an actual focal length interval in which the actual focal length adjusted by the zoom lens is located from the second number of preset focal length intervals;
and obtaining camera internal parameters and distortion parameters of the camera under the actual focal length through the fitting coefficient of the actual focal length interval.
In some embodiments, monocular calibration of the camera at each preset focal length includes:
and acquiring a plurality of images containing calibration plates with known sizes by using a camera under each preset focal length, and performing monocular calibration by using a Zhang Zhengyou calibration method to obtain camera internal parameters and distortion parameters of the camera under each preset focal length.
In some embodiments, the first focal length is a minimum zoom focal length of the zoom lens, and the second focal length is a maximum zoom focal length of the zoom lens.
In a second aspect, an embodiment of the present application provides a monocular calibration system of a zoom lens, where the system includes an actual measurement calibration module, a coefficient fitting module, and an engineering application module;
the actual measurement calibration module is used for uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens and performing monocular calibration on the camera under each preset focal length;
the coefficient fitting module is used for constructing a linear equation to fit camera internal parameters of the camera according to the first number of preset focal lengths; constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths; according to the monocular calibration result, fitting coefficients of the linear equation and the polynomial equation are obtained through a linear least square method;
and the engineering application module is used for solving camera internal parameters and distortion parameters of the camera under the actual focal length according to the actual focal length adjusted by the zoom lens in the actual engineering operation process through the fitting coefficient.
In a third aspect, an embodiment of the present application provides an electronic apparatus, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the monocular calibration method for a zoom lens according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a monocular calibration method for a zoom lens as described in the first aspect above.
Compared with the related art, the monocular calibration method, the system, the device and the medium for the zoom lens provided by the embodiment of the application have the advantages that the first number of preset focal lengths are uniformly selected from the range of the first focal length and the second focal length of the zoom lens, and the camera under each preset focal length is subjected to monocular calibration; according to the first number of preset focal lengths, camera internal parameters of a linear equation fitting camera are constructed, and distortion parameters of a polynomial equation fitting camera are constructed; according to the monocular calibration result, fitting coefficients of a linear equation and a polynomial equation are obtained through a linear least square method; in the actual engineering operation process, according to the actual focal length adjusted by the zoom lens, the camera internal parameter and distortion parameter of the camera under the actual focal length are obtained through the fitting coefficient, the problem of low efficiency caused by multiple times of monocular calibration of the zoom lens under the condition of continuous zooming is solved, the accurate camera internal parameter and distortion parameter under any focal length can be directly obtained by the zoom lens in the continuous zooming process, and therefore the time for calibrating the camera in engineering is greatly shortened.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flowchart of steps of a monocular calibration method of a zoom lens according to an embodiment of the present application;
FIG. 2 is a schematic diagram of determining an actual focal length interval according to an embodiment of the present application;
FIG. 3 is a block diagram of a monocular calibration system of a zoom lens according to an embodiment of the present application;
fig. 4 is an internal structural diagram of an electronic device according to an embodiment of the present application.
Description of the drawings: 31. an actual measurement calibration module; 32. a coefficient fitting module; 33. and (5) an engineering application module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
An embodiment of the present application provides a monocular calibration method for a zoom lens, where fig. 1 is a flowchart illustrating steps of the monocular calibration method for a zoom lens according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens, and performing monocular calibration on a camera under each preset focal length;
specifically, for a zoom lens having a zoom range of a first focal length (f 1, minimum zoom focal length) to a second focal length (f 2, maximum zoom focal length), after it is mounted on the camera, a first fixed number of preset focal lengths are uniformly taken between f1 and f 2;
acquiring a plurality of images containing calibration plates with known sizes by a camera under each preset focal length, and performing monocular calibration by using a Zhang Zhengyou calibration method, namely, by using a pinhole camera model:
finding the camera internal parameters (f) of the camera at each preset focal lengthx,fy,cx,cy）；
By means of the distortion model:
obtaining a distortion parameter (k) of the camera at each predetermined focal length1,k2,k3,p1,p2）。
Optionally, the internal reference calibration may also use the Tsai grid method.
Step S104, constructing camera internal parameters of a linear equation fitting camera according to the first number of preset focal lengths;
specifically, the first number of preset focal lengths is divided into a second number of preset focal length intervals, and a camera internal parameter of the linear equation fitting camera is constructed for each preset focal length interval. Constructing a linear equation ax + by +1=0, wherein x represents the focal length of the lens at present, and y represents the camera internal parameter (f)x,fy,cx,cy) One of 4 parameters;
4 groups of coefficients [ a, b ] of each preset focal length interval are obtained through camera internal parameters of an equation fitting camera]4。
S106, constructing a distortion parameter of a polynomial equation fitting camera according to the first number of preset focal lengths;
specifically, the first number of preset focal lengths is divided into a second number of preset focal length intervals, and a distortion parameter of a polynomial equation fitting camera is constructed for each preset focal length interval. If a quinary quadratic polynomial model is constructed:
wherein k is1、k2、k3、p1、p2Respectively representing distortion parameters (k)1,k2,k3,p1,p2）；
Through equation fitting of distortion parameters of the camera, 1 group of coefficients [ c ] of each preset focal length interval is obtained]15。
Alternatively, in step S104 and step S106, other models may be used to perform function fitting of parameters with respect to focal length, such as using a quadratic polynomial to collectively express 9 parameters (camera parameters and distortion parameters), which makes it a problem of fitting a 9-dimensional surface. There are many specific fitting algorithms, which are not described herein.
Step S108, according to the monocular calibration result, fitting coefficients of a linear equation and a polynomial equation are obtained through a linear least square method;
specifically, according to a monocular calibration result, actual measurement values of camera internal parameters and distortion parameters of each preset focal length interval are obtained;
and solving the square sum of the distances between the measured values and the distortion parameters of the camera parameters and polynomial equation fitting fitted by the linear equation fitting by adopting a linear least square method, and obtaining the fitting coefficient of each section of the preset focal length interval under the condition of the minimum square sum of the distances.
The sum of the squares of the distances from the actual parameter values for an arbitrary focal length to the straight line and curved surface to which the coefficients are fitted is minimized, as by the following formula.
Wherein the content of the first and second substances,
is a linear equation corresponding to the jth internal reference in the preset focal length interval of the focal length i,
the function f () represents the distance from the point to the straight line for the measured value of the jth internal parameter of the focal length i;
is a polynomial equation corresponding to the k distortion parameter in the preset focal length interval of the focal length i,
the function g () represents the distance from the point to the curved surface for the measured value of the k-th distortion parameter of the focal length i.
Finally, the fitting coefficient which is corresponding to each section of the preset focal length interval and meets the minimum square sum is obtained.
And step S110, in the actual engineering operation process, according to the actual focal length adjusted by the zoom lens, obtaining the camera internal parameter and distortion parameter of the camera under the actual focal length through the fitting coefficient.
Specifically, in the actual engineering operation process, an actual focal length interval in which the actual focal length frequently adjusted by the zoom lens is located is determined from the second number of preset focal length intervals;
and solving camera internal parameters and distortion parameters of the camera under the actual focal length through the fitting coefficient of the actual focal length interval.
Preferably, fig. 2 is a schematic diagram of determining an actual focal length interval according to an embodiment of the present application, and as shown in fig. 2, a midpoint of each preset focal length interval may be determined first, and a midpoint closest to the actual focal length is selected from a plurality of midpoints, where the preset focal length interval in which the midpoint is located is the actual focal length interval;
and solving camera internal parameters and distortion parameters of the camera under the actual focal length through the fitting coefficient of the actual focal length interval.
Through the steps S102 to S110 in the embodiment of the application, the problem of low efficiency caused by the fact that the zoom lens needs to be calibrated for multiple times in a monocular mode under the condition of continuous zooming is solved, the zoom lens can directly obtain accurate camera internal parameters and distortion parameters under any focal length in the continuous zooming process, and therefore the time for calibrating the camera in engineering is greatly shortened.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment of the present application provides a monocular calibration system of a zoom lens, fig. 3 is a block diagram of a structure of the monocular calibration system of the zoom lens according to the embodiment of the present application, and as shown in fig. 3, the system includes an actual measurement calibration module 31, a coefficient fitting module 32 and an engineering application module 33;
the actual measurement calibration module 31 is configured to uniformly select a first number of preset focal lengths within a first focal length range and a second focal length range of the zoom lens, and perform monocular calibration on the camera at each preset focal length;
the coefficient fitting module 32 is configured to construct camera parameters of a linear equation fitting camera according to the first number of preset focal lengths;
the coefficient fitting module 32 is configured to construct a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths;
the coefficient fitting module 32 is configured to obtain fitting coefficients of a linear equation and a polynomial equation by a linear least square method according to a monocular calibration result;
the engineering application module 33 is configured to obtain the camera intrinsic parameters and distortion parameters of the camera at the actual focal length through the fitting coefficients according to the actual focal length frequently adjusted by the zoom lens in the actual engineering operation process.
Through the actual measurement calibration module 31, the coefficient fitting module 32 and the engineering application module 33 in the embodiment of the application, the problem of low efficiency caused by multiple times of monocular calibration of the zoom lens under the condition of continuous zooming is solved, the zoom lens can directly obtain accurate camera parameters and distortion parameters under any focal length in the continuous zooming process, and therefore the time for calibrating the camera in engineering is greatly shortened.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, by combining the monocular calibration method of the zoom lens in the above embodiments, the embodiments of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements the monocular calibration method of any one of the zoom lenses in the above embodiments.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a monocular calibration method for a zoom lens. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In one embodiment, fig. 4 is a schematic diagram of an internal structure of an electronic device according to an embodiment of the present application, and as shown in fig. 4, there is provided an electronic device, which may be a server, and its internal structure diagram may be as shown in fig. 4. The electronic device comprises a processor, a network interface, an internal memory and a non-volatile memory connected by an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used for providing calculation and control capability, the network interface is used for communicating with an external terminal through network connection, the internal memory is used for providing an environment for an operating system and running of a computer program, the computer program is executed by the processor to realize the monocular calibration method of the zoom lens, and the database is used for storing data.
Those skilled in the art will appreciate that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the electronic device to which the present application is applied, and a particular electronic device may include more or less components than those shown in the drawings, or combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A monocular calibration method of a zoom lens, the method comprising:
uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens, and performing monocular calibration on the camera under each preset focal length;
according to the first number of preset focal lengths, constructing a linear equation to fit camera internal parameters of the camera;
constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths;
according to the monocular calibration result, fitting coefficients of the linear equation and the polynomial equation are obtained through a linear least square method;
in the actual engineering operation process, according to the actual focal length adjusted by the zoom lens, the camera internal parameter and distortion parameter of the camera under the actual focal length are obtained through the fitting coefficient.
2. The method of claim 1, wherein constructing a linear equation to fit camera intrinsic parameters of the camera according to the first number of preset focal lengths comprises:
dividing the first number of preset focal lengths into a second number of preset focal length intervals, and constructing a linear equation for each section of the preset focal length intervals to fit the camera internal parameters of the camera.
3. The method of claim 1, wherein constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths comprises:
dividing the first number of preset focal lengths into a second number of preset focal length intervals, and constructing a polynomial equation for each section of the preset focal length intervals to fit distortion parameters of the camera.
4. The method of claim 2 or 3, wherein obtaining the fitting coefficients of the linear equation and the polynomial equation by a linear least squares method according to the result of the monocular calibration comprises:
according to the monocular calibration result, the measured values of the camera internal parameters and the distortion parameters of each section of the preset focal length interval are obtained;
and solving the square sum of the distances between the measured values and the camera parameters of the linear equation fitting and the distortion parameters of the polynomial equation fitting and the linear equation fitting by adopting a linear least square method, and obtaining the fitting coefficient of each section of the preset focal length interval under the condition of the minimum square sum of the distances.
5. The method of claim 4, wherein obtaining the camera intrinsic parameters and distortion parameters of the camera at the actual focal length according to the actual focal length adjusted by the zoom lens through the fitting coefficients comprises:
determining an actual focal length interval in which the actual focal length adjusted by the zoom lens is located from the second number of preset focal length intervals;
and obtaining camera internal parameters and distortion parameters of the camera under the actual focal length through the fitting coefficient of the actual focal length interval.
6. The method of claim 1, wherein monocular calibration of the camera at each preset focal length comprises:
and acquiring a plurality of images containing calibration plates with known sizes by using a camera under each preset focal length, and performing monocular calibration by using a Zhang Zhengyou calibration method to obtain camera internal parameters and distortion parameters of the camera under each preset focal length.
7. The method of claim 1, wherein the first focal length is a minimum zoom focal length of the zoom lens and the second focal length is a maximum zoom focal length of the zoom lens.
8. The monocular calibration system of the zoom lens is characterized by comprising an actual measurement calibration module, a coefficient fitting module and an engineering application module;
the actual measurement calibration module is used for uniformly selecting a first number of preset focal lengths from the first focal length range and the second focal length range of the zoom lens and performing monocular calibration on the camera under each preset focal length;
the coefficient fitting module is used for constructing a linear equation to fit camera internal parameters of the camera according to the first number of preset focal lengths; constructing a polynomial equation to fit distortion parameters of the camera according to the first number of preset focal lengths; according to the monocular calibration result, fitting coefficients of the linear equation and the polynomial equation are obtained through a linear least square method;
and the engineering application module is used for solving camera internal parameters and distortion parameters of the camera under the actual focal length according to the actual focal length adjusted by the zoom lens in the actual engineering operation process through the fitting coefficient.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform a monocular calibration method of a zoom lens according to any one of claims 1 to 7.
10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a monocular calibration method of a zoom lens according to any one of claims 1 to 7.
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