CN114549664A

CN114549664A - Camera calibration method and device, electronic equipment and storage medium

Info

Publication number: CN114549664A
Application number: CN202210190130.0A
Authority: CN
Inventors: 孙贺然; 王磊; 王化生; 周博
Original assignee: Beijing Sensetime Technology Development Co Ltd
Current assignee: Beijing Sensetime Technology Development Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-05-27

Abstract

The disclosure provides a camera calibration method, a camera calibration device, an electronic device and a storage medium, and firstly, a target camera to be calibrated is determined in response to a camera selection operation for internal reference calibration, and a plurality of internal reference calibration images shot by the target camera are displayed; then, responding to a first image selection operation aiming at internal reference calibration, and selecting a plurality of first calibration images from the plurality of internal reference calibration images; responding to a calibration plate setting operation aiming at internal reference calibration to obtain calibration plate information; each first calibration image in the multiple first calibration images comprises a calibration plate corresponding to the calibration plate information; and finally, responding to the internal reference generation operation, and generating the internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information.

Description

Camera calibration method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of camera calibration technologies, and in particular, to a camera calibration method and apparatus, an electronic device, and a storage medium.

Background

Usually, before the camera is used, the camera needs to be calibrated. For example, in an application scene of visual perception, a mapping relation between an algorithm coordinate system and a camera coordinate system can be established in advance; and then, the established mapping relation is utilized to realize visual perception.

The calibration process of the existing camera is generally realized manually, all steps in the calibration process need to be controlled and realized manually, and the calibration process is difficult to realize full-process control on the same terminal, so that the calibration efficiency of the camera is not improved.

Disclosure of Invention

The embodiment of the disclosure at least provides a camera calibration method, a camera calibration device, electronic equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a camera calibration method, including:

responding to a camera selection operation aiming at internal reference calibration, determining a target camera to be calibrated, and displaying a plurality of internal reference calibration images shot by the target camera;

selecting a plurality of first calibration images from the plurality of internal reference calibration images in response to a first image selection operation aiming at internal reference calibration;

responding to a calibration plate setting operation aiming at internal reference calibration to obtain calibration plate information; each first calibration image in the multiple first calibration images comprises a calibration plate corresponding to the calibration plate information;

and generating internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information in response to an internal reference generation operation.

According to the method, through camera selection operation, first image selection operation, calibration plate setting operation and internal parameter generation operation, a series of operations can realize the process control of camera internal parameter calibration on one terminal, so that the efficiency of internal parameter calibration is effectively improved, and meanwhile, through selection operation corresponding to the first calibration image, namely the first image selection operation, the method is beneficial to selecting the image more suitable for internal parameter calibration, and therefore the accuracy of internal parameter calibration is improved.

In a possible embodiment, the displaying the plurality of internal reference calibration images captured by the target camera includes:

sending a shooting control instruction to the target camera in response to a first image shooting operation aiming at internal reference calibration so as to enable the target camera to shoot a plurality of internal reference calibration images;

receiving a plurality of internal reference calibration images sent by the target camera, and displaying the internal reference calibration images through an internal reference snapshot page;

and responding to the first file selection operation, and displaying the plurality of internal reference calibration images through a first file selection page.

According to the embodiment, shooting control over the target camera can be achieved through the first image shooting operation, so that manual shooting of pictures is avoided, and improvement of internal reference calibration efficiency is facilitated.

In a possible implementation, after the generating the internal reference information of the target camera, the method further includes:

storing the internal reference information of the target camera at a first preset position;

and responding to an internal reference viewing operation, acquiring the internal reference information of the target camera from the first preset position indicated by the internal reference viewing operation, and displaying through an internal reference display page.

According to the embodiment, the result of internal reference calibration, namely the internal reference information, can be checked on the terminal through the internal reference checking operation, and the checking efficiency of the internal reference information is improved.

In a possible implementation manner, after the presentation of the page through the internal reference, the method further includes:

responding to the click operation of an effect verification control in the internal reference display page, and displaying and uploading prompt information of the image shot by the target camera;

responding to a first image uploading operation, and displaying an image shot by the target camera;

responding to a second image selection operation, selecting an image to be verified from the displayed images shot by the target camera, and displaying the image to be verified in the internal reference display page;

and responding to the image conversion operation, and generating an anti-distortion image corresponding to the image to be verified.

According to the embodiment, the anti-distortion image corresponding to the image to be verified can be generated on the terminal through the operations such as the first image uploading operation, the second image selecting operation and the image converting operation, so that the checking of the calibration effect of the reference information is realized, and the checking efficiency of the calibration effect is improved.

In a possible embodiment, the method further includes:

under the condition that the generation of the internal reference information of the target camera fails, acquiring the reason of the failure of the generation of the internal reference information;

generating and displaying a first reason viewing control corresponding to the target camera in the internal reference display page;

storing the reason for the failure of the generation of the internal reference information at a second preset position, and establishing a first mapping relation between the second preset position and the first reason viewing control;

and responding to the clicking operation aiming at the first reason viewing control, acquiring the second preset position corresponding to the first reason viewing control based on the first mapping relation, and acquiring and displaying the reason of the failure generation of the internal reference information based on the second preset position.

According to the embodiment, the reason that the internal reference calibration fails can be checked on the terminal through the first reason checking control and the related operation, so that adjustment according to the reason of the failure is facilitated, and the efficiency of the internal reference calibration is improved.

In a possible embodiment, the method further includes:

responding to a second image shooting operation aiming at external reference calibration, and sending a shooting control instruction to the target camera so as to enable the target camera to shoot a plurality of external reference calibration images;

receiving a plurality of external reference calibration images sent by the target camera, and displaying the external reference calibration images through an external reference snapshot page;

responding to a second file selection operation, and displaying the plurality of external reference calibration images through a second file selection page;

responding to a third image selection operation aiming at external reference calibration, selecting and obtaining a plurality of second calibration images from the plurality of external reference calibration images, obtaining a target scene image based on at least one scene image, and displaying the selected plurality of second calibration images and the target scene image through a second file selection page;

and responding to an external reference generation operation, and generating external reference information of the target camera based on the plurality of second calibration images, the target scene image and the internal reference information.

According to the embodiment, shooting control over the target camera can be achieved through the second image shooting operation, so that manual photo shooting is avoided, and external reference calibration efficiency is improved; then, the process control of the camera external parameter calibration can be realized on one terminal through a series of operations of the second file selection operation, the third image selection operation and the external parameter generation operation, the external parameter calibration efficiency is effectively improved, and meanwhile, the selection operation corresponding to the second calibration image, namely the third image selection operation, is beneficial to selecting the image which is more suitable for external parameter calibration, so that the accuracy of the external parameter calibration is improved.

In a possible implementation, before the obtaining the target scene image based on at least one scene image, the method further includes:

responding to the second image uploading operation, and displaying at least one scene image to be uploaded;

responding to a fourth image selection operation, acquiring at least one scene image from the displayed at least one scene image to be uploaded, and displaying the acquired at least one scene image through an image calibration page;

for each scene image displayed in the image calibration page, responding to parameter setting operation for the scene image, and acquiring origin information and coordinate axis information of the scene image;

and in response to a parameter saving operation aiming at the scene image, storing the scene image, the origin information and the coordinate axis information in a third preset position in an associated mode.

According to the embodiment, at least one scene image is uploaded on the terminal and the parameter of each scene image is set through the second image uploading operation, the fourth image selecting operation, the parameter setting operation and the parameter saving operation.

In a possible implementation manner, the associating and storing the scene image, the origin information, and the coordinate axis information at a third preset position includes:

and respectively checking the origin information and the coordinate axis information, and storing the scene image, the origin information and the coordinate axis information in the third preset position in an associated manner under the condition that the checks are passed.

According to the embodiment, before the scene image, the origin information and the coordinate axis information are stored, verification is performed, so that the accuracy of the stored information can be improved, and the calibration accuracy of the external parameters can be improved.

In a possible implementation manner, after displaying the acquired at least one scene image through the image calibration page, the method further includes:

in response to a deletion operation for the scene image, deleting origin information and coordinate axis information stored in association with the scene image from the third preset position.

According to the embodiment, the scene image and the information thereof can be deleted through deletion operation, and the accuracy and the efficiency of external reference calibration can be improved.

In one possible embodiment, the parameter setting operation includes a new addition sub-operation and a parameter setting sub-operation;

the acquiring, for each scene image displayed in the image calibration page, origin information and coordinate axis information of the scene image in response to a parameter setting operation for the scene image includes:

for each scene image displayed in the image calibration page, responding to a new adding operation for the scene image, and judging whether the original point information and the coordinate axis information of the previous scene image adjacent to the scene image are successfully stored;

displaying a parameter setting control in the image calibration page under the condition that the original point information and the coordinate axis information of the previous scene image are successfully stored;

and responding to the parameter setting sub-operation aiming at the parameter setting control, and acquiring the origin point information and the coordinate axis information of the scene image.

According to the embodiment, the new scene image can be subjected to parameter setting only after the original point information and the coordinate axis information corresponding to the previous scene image are successfully stored by using the new adding sub-operation and the parameter setting sub-operation, so that the efficiency and the accuracy of parameter setting of the scene image are improved.

In a possible implementation, after the generating external reference information of the target camera, the method further includes:

storing external reference information of the target camera at a fourth preset position;

and responding to the external reference viewing operation, acquiring the external reference information of the target camera from the fourth preset position indicated by the external reference viewing operation, and displaying the external reference information through an external reference display page.

According to the embodiment, the result of external parameter calibration, namely the external parameter information, can be checked on the terminal through the external parameter checking operation, and the checking efficiency of the external parameter information is improved.

In a possible implementation manner, after the presentation through the external presentation page, the method further includes:

acquiring and displaying an external parameter generation state of at least one external parameter calibration camera for external parameter calibration;

responding to the external reference generation canceling operation of the target calibration camera in the external reference generation process in the external reference display page, and generating prompt information for confirming that the external reference generation is canceled;

and stopping the external reference generation operation of the target calibration camera in response to the external reference confirmation cancellation operation.

According to the embodiment, the generation operation of the external reference information can be stopped through the external reference generation canceling operation and the external reference confirmation canceling operation, and the generation operation of the external reference information is flexibly controlled.

In a possible implementation, after the stopping the external reference generation operation of the target calibration camera, the method further includes:

displaying the external reference in the external reference display page to continue generating a control;

and responding to the click operation of the control for continuously generating the external reference, and continuously generating the external reference information of the target calibration camera.

According to the embodiment, the generated external reference information can be controlled to be generated continuously through the display of the external reference continuous generation control and the related clicking operation, and the flexibility of external reference information generation control is further improved.

In a possible embodiment, the method further includes:

under the condition that the generation of the external reference information of the target camera fails, acquiring the reason of the failure of the generation of the external reference information;

generating a second reason viewing control corresponding to the target camera, and displaying the second reason viewing control through the external display page;

storing the reason for the failure of the generation of the external reference information at a fifth preset position, and establishing a second mapping relation between the fifth preset position and the second reason viewing control;

and responding to a click operation of a second reason viewing control, acquiring the fifth preset position based on the second mapping relation, and acquiring and displaying the reason of the generation failure of the external reference information based on the fifth preset position.

According to the embodiment, the reason of the failure of the external parameter calibration can be checked on the terminal through the second reason checking control and the related operation, so that the adjustment according to the reason of the failure is facilitated, and the efficiency of the external parameter calibration is improved.

In a possible embodiment, the method further includes:

sending a photographing control instruction to the subject camera to cause the subject camera to photograph a plurality of camera registration images in response to a third image photographing operation for camera registration;

receiving a plurality of camera registration images sent by the target camera, and displaying the images through a registration snapshot page;

responding to a third file selection operation aiming at the camera registration, acquiring a plurality of preset files and a plurality of camera registration images corresponding to the camera registration, and selecting a page through the third file for displaying;

in response to a selection operation for camera registration, selecting a plurality of target registration images from the plurality of camera registration images, and selecting a target file from a plurality of preset files;

registering the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information in response to a camera registration operation.

According to the embodiment, through the third image shooting operation, the third file selecting operation, the camera registration selecting operation and the camera registration operation, the camera registration process can be controlled on one terminal through a series of operations, the camera registration efficiency is effectively improved, meanwhile, through the camera registration selecting operation, the target registration image and the target file which are more suitable for a certain camera to be used for registration are favorably selected, and therefore the camera registration accuracy is favorably improved.

In one possible embodiment, registering the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information in response to a camera registration operation includes:

responding to a camera registration operation, and displaying prompt information whether to continue to register or not under the condition that the target camera is detected to be a registered camera; the prompt information is used for prompting that the new registration result information covers the existing registration result information;

registering the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information in response to a confirmation registration operation confirming a continuation of registration, and overwriting the registered result information with new registration result information.

According to the embodiment, the flexible control of whether the registered camera is continuously registered can be realized through the camera registration operation, the prompt information of whether the registration is continuously carried out or not is displayed, and the registration operation is confirmed.

In one possible implementation, the registering the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information in response to a camera registration operation includes:

responding to the camera registration operation, and displaying prompt information waiting for the completion of the downloading of the target file under the condition that the target file is not detected to be completely downloaded;

and under the condition that the target file is detected to be downloaded completely, registering the target camera based on the target registration images, the target file, the external reference information and the internal reference information.

According to the embodiment, the corresponding camera can be registered only after the target file is downloaded, and the accuracy of camera registration is improved.

In one possible embodiment, the registering the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information in response to a camera registration operation includes:

responding to a camera registration operation, and displaying prompt information of internal and external parameter information which needs to be generated in advance under the condition that the external parameter information and/or the internal parameter information are not generated;

and registering the target camera based on the plurality of target registration images, the target file, the external reference information and the internal reference information when the external reference information and the internal reference information are detected to be generated.

According to the embodiment, the corresponding camera can be registered only under the condition that the external reference information and the internal reference information are generated, and the accuracy of camera registration is improved.

In a possible implementation, after the registering the target camera, the method further includes:

storing the registration result information of the target camera at a sixth preset position; the registration result information comprises at least one of registration time, identity information and registration state of the target camera;

and responding to a registration viewing operation, acquiring registration result information of the target camera from a sixth preset position indicated by the registration viewing operation, and displaying the registration result information in a registration display page.

According to the embodiment, the camera registration result can be checked on the terminal through the registration checking operation, and the checking efficiency of the camera registration result is improved.

In a possible implementation manner, after presenting the registration presentation page, the method further includes:

and displaying the three-dimensional model generated in the target camera registration process in a registration display page in response to a click operation on a result viewing control in the registration display page.

According to the embodiment, the three-dimensional model generated in the camera registration process can be displayed through the result viewing control and the related clicking operation, so that the flexibility, comprehensiveness and viewing efficiency of viewing the registration result are improved.

and displaying a target scene image used in the process of generating external reference information by the target camera in the registration display page in response to the click operation of the calibration graph viewing control in the registration display page.

According to the embodiment, the target scene image used in the process of generating the external reference information by the camera can be displayed through the calibration graph viewing control and the related clicking operation, so that the flexibility, comprehensiveness and viewing efficiency of viewing the target scene image are improved.

acquiring a reason for the camera registration failure when the registration of the target camera fails;

generating and displaying a third cause viewing control corresponding to the target camera in the registration display page;

storing the reason of the camera registration failure in a seventh preset position, and establishing a third mapping relation between the seventh preset position and the third reason viewing control;

and responding to a click operation aiming at a third cause viewing control, acquiring the seventh preset position based on the third mapping relation, and acquiring and displaying the reason of the camera registration failure based on the seventh preset position.

According to the embodiment, the reason that the camera registration fails can be checked on the terminal through the third reason checking control and the related operation, so that adjustment according to the reason of the failure is facilitated, and the efficiency of the camera registration is improved.

In a second aspect, an embodiment of the present disclosure further provides a camera calibration apparatus, including:

the internal reference camera selection module is used for responding to camera selection operation aiming at internal reference calibration, determining a target camera to be calibrated and displaying a plurality of internal reference calibration images shot by the target camera;

the internal reference image selection module is used for responding to a first image selection operation aiming at internal reference calibration and selecting a plurality of first calibration images from the plurality of internal reference calibration images;

the calibration board setting module is used for responding to calibration board setting operation aiming at internal reference calibration to obtain calibration board information; each first calibration image in the multiple first calibration images comprises a calibration plate corresponding to the calibration plate information;

and the internal reference generation module is used for responding to internal reference generation operation and generating the internal reference information of the target camera based on the first calibration images and the calibration plate information.

In a third aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect described above, or any possible implementation of the first aspect.

In a fourth aspect, this disclosed embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps in the first aspect or any one of the possible implementation manners of the first aspect.

For the description of the effects of the camera calibration apparatus, the electronic device, and the computer-readable storage medium, reference is made to the description of the camera calibration method, which is not repeated herein.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 shows a flowchart of a camera calibration method provided in an embodiment of the present disclosure;

FIG. 2A shows a schematic diagram of an internal reference snap page in an embodiment of the disclosure;

FIG. 2B is a schematic diagram illustrating a first document selection page in an embodiment of the disclosure;

FIG. 2C illustrates a schematic diagram of a calibration plate pose for internal reference calibration in an embodiment of the present disclosure;

FIG. 2D illustrates a schematic diagram of a reference presentation page in an embodiment of the disclosure;

FIG. 3A shows a schematic diagram of an external reference snap page in an embodiment of the disclosure;

FIG. 3B illustrates a calibration plate schematic for internal reference calibration in an embodiment of the present disclosure;

FIG. 3C illustrates a schematic diagram of a venue in an external reference calibration in an embodiment of the present disclosure;

FIG. 3D is a schematic diagram illustrating placement of a calibration plate in an external reference calibration in an embodiment of the present disclosure;

FIG. 3E illustrates a schematic diagram of an image calibration page in an embodiment of the present disclosure;

FIG. 3F is a schematic diagram illustrating a second document selection page in an embodiment of the disclosure;

FIG. 3G illustrates a schematic diagram of a reference presentation page in an embodiment of the disclosure;

FIG. 4A shows a schematic diagram of a register snapshot page in an embodiment of the present disclosure;

FIG. 4B is a schematic diagram illustrating a third document selection page in an embodiment of the disclosure;

FIG. 4C is a schematic diagram illustrating a registration presentation page in an embodiment of the disclosure;

FIG. 5 illustrates a flow chart of parameter calibration in an embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of a system configuration page in an embodiment of the disclosure;

FIG. 7 is a schematic diagram illustrating a help document page in an embodiment of the disclosure;

fig. 8 is a schematic diagram illustrating a camera calibration apparatus provided in an embodiment of the present disclosure;

fig. 9 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Research shows that the camera calibration process is generally manually implemented, each step in the calibration process needs to be manually and respectively controlled, and the calibration process cannot realize full-process control on the same terminal, which is not beneficial to improving the calibration efficiency of the camera. In view of the above drawbacks, the present disclosure provides a camera calibration method, device, electronic device, and storage medium, where a series of operations, including a camera selection operation, a first image selection operation, a calibration board setting operation, and an internal reference generation operation, can implement flow control of camera internal reference calibration on a terminal, thereby effectively improving the efficiency of internal reference calibration, and meanwhile, through the selection operation corresponding to a first calibration image, that is, the first image selection operation, it is beneficial to selecting an image more suitable for internal reference calibration, thereby improving the accuracy of internal reference calibration.

The camera calibration method provided by the embodiment of the present disclosure is described below by taking an execution subject as a terminal having a calculation capability as an example.

As shown in fig. 1, the camera calibration method provided by the present disclosure may include the following steps:

s110, responding to camera selection operation aiming at internal reference calibration, determining a target camera to be calibrated, and displaying a plurality of internal reference calibration images shot by the target camera.

As shown in fig. 2A, when internal reference calibration is required, an "internal reference calibration" control on the terminal may be clicked first, then an internal reference snapshot page corresponding to the internal reference calibration is displayed on the terminal, and a plurality of selectable cameras are displayed on the left side of the page to form a camera list, for example, 10.12.04.11-camera 01. Then, the user may perform a camera selection operation on the page to determine a target camera to be currently subjected to the internal reference calibration. And then, acquiring a plurality of internal reference calibration images shot by the target camera from the storage device or through shooting, and displaying the acquired plurality of internal reference calibration images in an internal reference snapshot page, for example, displaying the internal reference snapshot page in a snapshot preview area of the internal reference snapshot page.

In addition, clicking the 'internal reference snapshot' control can also enable the terminal to display an internal reference snapshot page.

And displaying a camera list in the internal reference snapshot page, displaying a 'new' button and a 'delete' button, clicking the 'new' button, adding a new camera needing internal reference calibration, and clicking the 'delete' button to delete some cameras needing no internal reference calibration. Clicking the 'add' button, a popup appears in the internal reference snapshot page, requiring the user to fill in the camera name, camera IP, rtsp stream address (mandatory) and device code (optional).

The Camera name may default to Camera01, Camera02, and the numeric portion may be added before the default name. And (3) adding the camera name, the camera IP address and the Rtsp stream address, wherein repeated verification is required, and if the verification already exists, the corresponding prompt is that XX already exists. The IP address and the rtsp flow address need to be checked in format, the rtsp flow address displays rtsp://, if the check is illegal, the following prompts are given: please enter legal [ XX ].

The cameras which are successfully added are displayed in the left area of the internal reference snapshot page and can be selected singly, the selected cameras can be deleted, and camera retrieval is supported through the camera names and the camera IP.

The camera name, camera IP and rtsp stream address do not need to be added repeatedly, and the added camera list is used on other pages, such as the first file selection page.

As shown in fig. 2A, a "one-touch snapshot" control is arranged in the internal reference snapshot page, a user clicks the control to implement a first image shooting operation for internal reference calibration, and then, the terminal sends a shooting control instruction to the target camera, so that the target camera shoots a plurality of internal reference calibration images; and then, the terminal receives and displays the plurality of internal reference calibration images sent by the target camera on an internal reference snapshot page. The latest snapshot internal reference calibration image is displayed at the top of the snapshot image preview area, and meanwhile scrolling and clicking viewing of the large image are supported. And clicking to view the internal reference calibration image corresponding to the large image can be displayed below the one-click snapshot control. And simultaneously displaying the corresponding image resolution below the viewed internal reference calibration image.

As shown in fig. 2B, after the target camera is captured, the user may click a "file selection" control for the internal reference calibration on the terminal, that is, a first file selection operation is implemented, and then a first file selection page corresponding to the internal reference calibration is displayed on the terminal, and a plurality of internal reference calibration images captured by the target camera are displayed on the first file selection page, for example, an image display area of the first file selection page. Meanwhile, the name of the internal reference calibration image can be displayed, the deletion operation after multi-selection is supported, and the internal reference calibration image supports a jpg/. jpeg/. png/. bmp/. tif format.

The internal reference calibration image comprises a checkerboard used for internal reference calibration, the checkerboard needs to be printed out and pasted on a hard material before the internal reference calibration image is shot, deformation of the checkerboard is avoided, and the checkerboard and the hard material form a calibration plate. When the internal reference calibration image is obtained, the image is not intercepted from the video as far as possible, the image is easy to blur, the image is kept still during shooting, the image is clear, and the virtual focus of a camera is avoided. The checkerboard should be placed in different positions within the camera field of view, the checkerboard in the returned referenced images is guaranteed to be complete and all positions fill the entire screen as much as possible. The calibration plate surrounds the target camera in a fan shape, avoiding that the calibration plate is at a pitch angle each time, as shown in fig. 2C. The shooting of the internal reference calibration images is only needed to be about 20 to 30, the whole visual field range of the target camera is required to be covered, and the shooting pitch angles are different.

And S120, selecting a plurality of first calibration images from the plurality of internal reference calibration images in response to a first image selection operation aiming at internal reference calibration.

The user can select a plurality of first calibration images meeting the requirements from a plurality of internal reference calibration images displayed in the first file selection page.

In addition, as shown in fig. 2B, offline uploading of the first calibration image may also be implemented by clicking an "offline upload control" in the first file selection page.

In addition, as shown in fig. 2B, a target camera and other cameras capable of performing internal reference calibration are displayed in the left area of the first document selection page.

S130, responding to a calibration plate setting operation aiming at internal reference calibration to obtain calibration plate information; and each first calibration image in the plurality of first calibration images comprises a calibration plate corresponding to the calibration plate information.

As shown in fig. 2B, in the upper area of the first file selection page, a control for acquiring calibration board information is set, for example, a text box for setting the number of lattices in each line and a text box for setting the number of lattices in each column, and a user may fill the number of lattices in each line and the number of lattices in each column into the corresponding text boxes, that is, the user performs a calibration board setting operation for calibrating an inner panel, and then the terminal acquires data filled in the text boxes to obtain the calibration board information.

And S140, responding to the internal reference generation operation, and generating the internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information.

As shown in fig. 2B, a control for starting internal reference generation is set on the first file selection page, the user clicks the control to implement the internal reference generation operation, and then the terminal generates the internal reference information of the target camera based on the plurality of first calibration images and the calibration board information.

As shown in fig. 2B, if the target camera has generated the internal reference information before, before executing the operation of generating the internal reference information, a first file selection page displays "the parameter has been calibrated, continues to generate a result to cover the original calibration, determines whether to cover" and displays two controls of "cancel" and "confirm" for the prompt information, if the "cancel" control is clicked, the operation of generating the internal reference information of the target camera is not executed, and if the "confirm" control is clicked, the operation of generating the internal reference information of the target camera is executed.

In addition, in the process of executing the operation of generating the internal reference information of the target camera, displaying the ongoing internal reference generation in a first file selection page, re-triggering to cover the original calibration result and determining whether to cover, displaying and displaying a cancel control and a confirm control according to the prompt information, if the cancel control is clicked, not re-executing the operation of generating the internal reference information of the target camera, and if the confirm control is clicked, re-executing the operation of generating the internal reference information of the target camera.

And if the target camera does not generate the internal reference information before, displaying 'start generation, please check the generation state in the internal reference display page' on the first file selection page.

According to the embodiment, through the camera selection operation, the first image selection operation, the calibration plate setting operation and the internal reference generation operation, the series of operations can realize the flow control of the camera internal reference calibration on one terminal, the efficiency of the internal reference calibration is effectively improved, and meanwhile, through the selection operation corresponding to the first calibration image, namely the first image selection operation, the image which is more suitable for the internal reference calibration is favorably selected, so that the accuracy of the internal reference calibration is favorably improved.

After generating the intrinsic information of the target camera, the generated intrinsic information may be stored at a first preset location. As shown in fig. 2D, the user may click a "calibration result" control on the terminal, and then an internal reference display page is displayed on the terminal, where a plurality of cameras undergoing internal reference calibration, cameras with completed internal reference calibration, and cameras with failed internal reference calibration are displayed in the internal reference display page.

For the camera with the internal reference calibration completed, the internal reference checking operation of the user aiming at the internal reference calibration can be realized by clicking a 'checking result' control on the internal reference display page, and then the internal reference information of the corresponding camera is displayed on the internal reference display page.

As shown in fig. 2D, an "effect verification" control is further provided on the internal reference display page for the camera whose calibration of the internal reference is completed, and in response to a click operation of the user on the "effect verification" control in the internal reference display page, prompt information for uploading an image captured by the target camera is displayed, and the "upload" control is displayed at the same time, and then the user clicks the "upload" control, that is, the user executes a first image upload operation on the terminal, and the image captured by the target camera is displayed on the internal reference display page; the user executes a second image selection operation in the displayed images to realize that the images to be verified are selected from the displayed images shot by the target camera, and the selected images are displayed in the internal display page; and finally, clicking a 'conversion' control by a user, namely executing image conversion operation on an internal reference display page, and generating and displaying an anti-distortion image corresponding to the image to be verified. The generated anti-distortion image may support downloading, which may be accomplished, for example, by clicking a "download" control in the show page. The generated anti-distortion image is compared with the image to be verified, and the generation quality of the internal reference can be determined.

As shown in fig. 2D, an "upload background" control is further provided on the internal reference display page for the camera whose calibration of the internal reference is completed, and the internal reference information and the like generated by the target camera can be transmitted to the background server in response to the click operation of the user on the "upload background" control in the internal reference display page. Before uploading, if the device code of the target camera is not perfect, prompting: the device code is not filled in, and the report is not supported. If the device code of the target camera is inconsistent with the background stored number, prompting: and if no matched equipment codes exist, reporting the codes to fail.

As shown in fig. 2D, the states of each camera performing the internal reference calibration are displayed on the internal reference display page, and for the camera that is generating the internal reference information, the corresponding states are displayed as in-process, for the camera that has completed the internal reference calibration, the corresponding states are displayed as complete, for the camera that has failed to generate the internal reference information, the corresponding states are displayed as failed, and for the camera that has not started to generate the internal reference information, the corresponding states are displayed as uncommitted.

In addition, the internal reference display page also displays information such as the camera name, the camera IP, the equipment label and the generation time of the internal reference information of each camera for internal reference calibration.

As shown in fig. 2D, for a camera that fails to generate the reference information, a control for performing reason viewing, for example, a first reason viewing control, is also displayed in the internal reference display page. Specifically, under the condition that the generation of the internal reference information of the target camera fails, acquiring the reason of the failure of the generation of the internal reference information; generating and displaying a first reason viewing control corresponding to the target camera in the internal reference display page; storing the reason for failure of generation of the internal reference information at a second preset position, and establishing a first mapping relation between the second preset position and the first reason viewing control; and responding to a click operation aiming at a first reason viewing control, acquiring a second preset position corresponding to the first reason viewing control based on the first mapping relation, and acquiring and displaying the reason of failure generation of the internal reference information based on the second preset position.

After the internal reference information calibration of the target camera is completed, the external reference information calibration can be continuously performed. As shown in fig. 3A, specifically, an "external reference calibration" control is clicked on the terminal, an external reference snapshot page is displayed, and a camera list that needs to be calibrated is displayed in a left area of the external reference snapshot page. The user may perform a selection operation of the camera that performs the external reference calibration on the external reference snapshot page, and determine the camera that needs to perform the external reference calibration currently, which is described below by taking the camera that needs to perform the external reference calibration as an example of the target camera.

The user can also display the external reference snapshot page by clicking the external reference snapshot control.

A one-key snapshot control is arranged in the external reference snapshot page, a user clicks the control, namely, a second image shooting operation aiming at external reference calibration is executed, and then, a terminal sends a shooting control instruction to the target camera so that the target camera shoots a plurality of external reference calibration images; and then, the terminal receives and displays the plurality of external reference calibration images sent by the target camera on an external reference snapshot page. The resolution of each external parameter calibration image is also displayed in the external parameter snapshot page. The external reference snapshot page is provided with a setting control of the storage position of the external reference calibration image, and a user can fill in or select the storage position of the external reference calibration image in the control.

Aiming at a camera list displayed in an external reference snapshot page, displaying a 'new adding' button and a 'deleting' button, clicking the 'new adding' button, adding a new camera needing external reference calibration, and clicking the 'deleting' button to delete some cameras needing no external reference calibration. Clicking a 'newly added' button, and displaying a popup in an external parameter snapshot page, wherein a user is required to fill in a camera name, a camera IP (Internet protocol) address and an rtsp (rtsp) stream address.

The cameras which are successfully added are displayed in the left area of the external reference snapshot page and can be selected singly, the selected cameras can be deleted, and camera retrieval is supported through the camera names and the camera IP.

The camera name, camera IP and rtsp stream address do not need to be added repeatedly, and the added camera list is used on other pages, for example, can be used in the second file selection page.

The camera supports single-path and multi-path previewing, and can simultaneously preview the external reference calibration images shot by the 16-path camera at most. And (3) supporting the selection of multiple cameras, clicking (one-key snapshot) and simultaneously snapshotting multiple external reference calibration images. Or only one camera can be selected for image capturing.

And the method supports clicking an image amplification control of the single-path camera to amplify a video picture or an external reference calibration image, and displaying the full-screen single-path image. Clicking an image reduction control of the one-way camera to restore the default image size; and clicking a closing button to finish the current image preview.

Before the external reference calibration image is collected, a calibration plate with a proper size needs to be manufactured according to the size of a field, and a calibration plate with a size of 1.8 x 1.5 m can be used in a general size of 100 square meters, and the approximate mode is shown in fig. 3B.

The size of the calibration plate needs to be matched with the size of the field, the ground of the field needs to be smooth, and no barrier exists. And the calibration board is as non-reflective as possible, otherwise, the result is wrong due to light irradiation, and the calibration board is recommended to be canvas. The calibration plate is printed in a whole sheet and can not be spliced. The calibration plate cannot be deformed during printing, and each black and white grid is guaranteed to be square. In same place, remove and put the calibration board about 20, the visible range that the whole place was filled in the tiling, every locating position all need shoot outer reference calibration image, and the calibration board needs to keep intact, and all lattices are all in the shooting field of vision, and the formation of image is clear, does not have virtual burnt.

When an image is shot, a calibrated field needs to be selected, a mark point is pasted on the ground to serve as the world coordinate system origin of the field (block), a point 31 in the lower graph 3C is arranged, the vertex 32 of the calibration plate is overlapped with the world coordinate system origin of the ground, as shown in the graph 3D, the calibration plate is guaranteed to be pasted on the ground as far as possible, the calibration plate is flat and has no concave-convex, four corners of the calibration plate are not tilted, the edges of the calibration plate are respectively kept in a horizontal/vertical state with the wall surface or the edge of the field, and after the calibration plate is fixed, cameras with different visual angles shoot the image at the same time, and the image is named as a camera name + origin. If there are multiple cameras in a field, it is necessary that multiple cameras can capture the initial point calibration board picture of the coordinate system, as shown in fig. 3E.

The calibration plates are placed at other places in the visual field, the calibration plates are not required to be shot by all cameras in the field of a plurality of cameras, the visible range of the whole camera is fully paved as far as possible at the placing positions of the calibration plates, and images are shot every time the calibration plates are placed.

As shown in fig. 3E, a "CAD drawing calibration" control is clicked on the terminal, an image calibration page is displayed, an "upload CAD drawing" control is arranged in the image calibration page, the user clicks the control to implement a second image upload operation, then, the terminal displays at least one scene image to be uploaded, the user performs a fourth image selection operation, selects at least one scene image from the displayed at least one scene image to be uploaded, and then, the terminal displays the at least one scene image selected by the user on the image calibration page. Then, the user executes a parameter setting operation for a certain scene image on the image calibration page, and the terminal acquires origin information and coordinate axis information of the scene image based on the operation. Specifically, the parameter setting operation may include a new adding sub-operation and a parameter setting sub-operation. The scene image is a CAD graph.

As shown in fig. 3E, a "newly added annotation point" control is set on the image calibration page, the user clicks the control, that is, a new adding sub-operation is executed for the scene image, then a parameter setting control is displayed on the image calibration page, a serial number and a selected camera name are displayed in an initial state of the parameter setting control, and then the terminal determines whether the original point information and the coordinate axis information of the previous scene image adjacent to the scene image are successfully stored; on the premise that the original point information and the coordinate axis information of the last scene image are successfully stored, the user executes parameter setting sub-operations on the parameter setting control, for example, inputting the coordinates of the original point in the original point setting control in the parameter setting control, inputting the length of the X axis, the angle of the X axis and other information in the X axis setting control in the parameter setting control, inputting the length of the Y axis in the Y axis setting control in the parameter setting control, and setting whether the Y axis can be rotated or not. Wherein the angle of the X axis is selected from 90 degrees, 180 degrees and 270 degrees. After the user setting is completed, the terminal may acquire origin information and coordinate axis information of the scene image from the controls.

As shown in fig. 3E, a "save" control and a "delete" control are set on the image calibration page for the origin information and the coordinate axis information of each scene image. Specifically, a "save" control and a "delete" control may be set in the parameter setting control corresponding to each scene image. And clicking the 'saving' control by the user, namely executing a parameter saving operation aiming at the scene image, respectively carrying out information integrity check on the acquired scene image, the origin information of the scene image and the coordinate axis information of the scene image by the terminal, and storing the acquired scene image, the origin information and the coordinate axis information in a third preset position in a related manner under the condition that the check is passed, and if the check is not passed, giving prompt information that the origin information and the coordinate axis information are not filled completely. The user clicks the 'delete' control, namely the user executes the delete operation aiming at the scene image, the terminal deletes the scene image, the original point information and the coordinate axis information of the scene image, prompts the user whether to confirm to delete the information before deleting the information, and deletes the corresponding parameter setting control and all the information in the control under the condition that the user confirms to delete the information.

The parameter setting control is provided with a serial number, and the serial number is gradually increased along with the uploading and setting of a new scene image.

In addition, as shown in fig. 3E, a setting or selecting control of a third preset position is further arranged on the image calibration page, and the user can modify or set the third preset position through the control. The image calibration page is also provided with a camera list control, a user clicks the camera list which needs to be subjected to external parameter calibration, the camera list which needs to be subjected to external parameter calibration is displayed in the image calibration page, the camera which needs to be subjected to external parameter calibration is selected from the camera list, and the external parameter calibration image shot by the camera is displayed after the selection. The original coordinate in the scene image is (0, 0) at the top left vertex of the scene image, and the coordinates of other pixel points are determined on the basis.

After the external reference calibration images are shot and the scene images are set, the user clicks a 'file selection' control on the terminal, namely the user executes a second file selection operation, and the terminal displays a plurality of external reference calibration images shot by the target camera and at least one scene image corresponding to the calibration scene in a second file selection page.

As shown in fig. 3F, a "select snapshot image" control and a "select scene image" control are arranged in the second file selection page, and the user can select multiple second calibration images from the multiple external reference calibration images by clicking the "select snapshot image" control, and can select the target scene image from at least one scene image by clicking the "select scene image" control. And the user realizes a third image selection operation aiming at external parameter calibration by clicking the 'selection snapshot image' control and 'selection scene image', selects and obtains a plurality of second calibration images from the plurality of external parameter calibration images through the operation, and obtains a target scene image from at least one scene image. And then, displaying the plurality of selected second calibration images and the target scene image in a second file selection page.

Illustratively, the external reference calibration image is stored in a folder named by the IP of the camera, and after the selection is completed, the external reference calibration image can be displayed in a second file selection page, and the name of the second calibration image is displayed at the same time, so that multi-selection and deletion are supported. And storing the scene images in a folder named by the IP of the camera, displaying the scene images in a second file selection page after the selection is finished, and simultaneously displaying the names of the scene images to support multi-selection and deletion.

As shown in fig. 3F, a "select monitor camera internal reference" control is set in the second file selection page, and by clicking the control, the internal reference information currently used for external reference calibration can be selected from at least one stored set of internal reference information.

In addition, a 'deleting' control is arranged for the external reference calibration images in the second file selection page, and one or more external reference calibration images can be deleted by clicking the control; a 'deletion' control is set for the scene images, and one or more scene images can be deleted by clicking the control; a 'deleting' control is set for the internal reference information of the camera, and one or more groups of calibrated internal reference information can be deleted by clicking the control.

As shown in fig. 3F, a "start generation of external reference" control is set in the second file selection page, the user performs an external reference generation operation by clicking the control, and then the terminal generates the external reference information of the target camera based on the plurality of second calibration images, the target scene image, and the internal reference information.

After a user clicks a control for starting to generate the external reference, the terminal judges whether the target camera generates the external reference information or not, if not, the terminal displays a prompt message of 'starting to generate and please check the state on an external reference display page' in a second file selection page or a popup window; if the external parameter information is generated, the external parameter information is displayed in the second file selection page or the popup window to finish the calibration, prompt information which covers the original calibration result and determines whether to cover is continuously generated, and after the user determines to continuously generate, the user starts to generate in the second file selection page or the popup window to display and please check the state on the external parameter display page.

In the process of generating the external reference information, the external reference information of one camera can be generated independently, and the external reference information of multiple cameras can be generated simultaneously.

After the generation of the external reference information of the target camera, storing the external reference information of the target camera at a fourth preset position; and responding to the external reference viewing operation, acquiring external reference information of the target camera from a fourth preset position indicated by the external reference viewing operation, and displaying the external reference information in an external reference display page. As shown in fig. 3G, specifically, the external reference viewing operation is implemented by clicking a "viewing directory" control in the external reference display page, and a local file can be viewed by clicking the "viewing directory" control, and the external reference information after calibration is stored in the local file. In addition, the external reference information can be displayed in an external reference display page or in a popup window mode.

The user clicks the calibration result control to display the external reference display page, before the external reference display page is displayed, the terminal acquires and displays the external reference generation state of at least one external reference calibration camera for external reference calibration, and then the acquired state is displayed in the external reference display page. As shown in fig. 3G, the external reference generation state includes: completed, in progress, failed, cancelled, etc. For a camera with an external parameter generation state in progress, a user can click a 'cancel task' control in an external parameter display page to realize executing external parameter generation cancellation operation, then a terminal generates and displays prompt information for confirming cancellation of external parameter generation, if the user executes the external parameter confirmation cancellation operation aiming at the prompt information, the terminal stops the external parameter generation operation of the target calibration camera, updates the external parameter generation state to cancelled, displays the 'external parameter continuous generation' control aiming at the camera in the external parameter display page, and if the user clicks the 'external parameter continuous generation' control, the terminal continues to execute the operation for generating the external parameter information.

And for the camera with the external reference generation state failed, displaying a second reason viewing control in the external reference display page, acquiring the reason of the external reference information generation failure by the terminal, storing the reason of the external reference information generation failure in a fifth preset position, and establishing a second mapping relation between the fifth preset position and the second reason viewing control. And when the user clicks a second reason viewing control, the terminal acquires the fifth preset position based on the second mapping relation, and acquires and displays the reason of the failure of the generation of the external reference information based on the fifth preset position.

In addition, an uploading background control is further arranged in the external reference display page for each camera which is calibrated according to the external reference, and after the user clicks the control, the terminal uploads external reference information corresponding to the camera to the background server.

In addition, the external reference calibration cameras for performing external reference calibration on each external reference display page display information such as corresponding camera names, camera IPs, and generation times of external reference information.

After the calibration of the internal reference information and the external reference information of the target camera is completed, the operation of camera registration can be continued. Specifically, as shown in fig. 4A, a "camera registration" control is clicked on the terminal, the terminal displays a registration snapshot page, and a camera list that needs to be registered is displayed in a left area of the registration snapshot page. The user may perform a selection operation of a camera to be registered on the registration snapshot page, and determine a camera to be currently registered, which will be described below by taking a camera to be registered as a target camera as an example.

As shown in fig. 4A, clicking the "register snapshot" control may also display a register snapshot page.

A one-key snapshot control is arranged in the registration snapshot page, a user clicks the one-key snapshot control, namely, a third image shooting operation aiming at camera registration is executed, and then, a terminal sends a shooting control instruction to the target camera so that the target camera shoots a plurality of camera registration images; and then, the terminal receives and displays the multiple camera registration images sent by the target camera on a registration snapshot page, for example, a snapshot preview area displayed on the right side of the registration snapshot page, the latest snapshot camera registration image appears at the top of the snapshot preview area, and meanwhile, the terminal supports scrolling and clicking to view the large image. For large images viewed, the image resolution is also displayed in the registered snap page.

Aiming at a camera list displayed in a registered snapshot page, new adding and deleting buttons are displayed, new cameras needing to be registered can be added by clicking the new adding button, and some cameras needing not to be registered can be deleted by clicking the deleting button. Clicking a 'newly added' button, and displaying a popup in a registered snapshot page, wherein a user is required to fill in information such as a camera name, a camera IP (Internet protocol), an rtsp (rtsp streaming) address and an equipment number.

The Camera name may default to Camera01, Camera02, and the numeric portion may be added before the default name. Repeated verification is needed when the camera name, the camera IP address and the Rtsp stream address are added, and if the verification exists, the corresponding prompt is that the (XX) exists. The IP address and the rtsp flow address need to be checked in format, the rtsp flow address displays rtsp://, if the check is illegal, the following prompts are given: please enter legal [ XX ].

The camera name, camera IP and rtsp stream address do not need to be added repeatedly, and the added camera list is used on other pages, for example, can be used in a third file selection page.

After the camera registration image is captured, a user clicks a file selection control to realize execution of a third file selection operation, then a terminal acquires a plurality of preset files and a plurality of camera registration images corresponding to camera parameter calibration, and the plurality of camera registration images are displayed in a third file selection page.

As shown in fig. 4B, a camera list to be registered is displayed in a left area of the third file selection page, a file download control is arranged in a middle area of the third file selection page, after the user clicks the file download control, the terminal can display a plurality of preset files corresponding to the camera registration in a pop-up window manner, and then the target file can be selected from the preset files through a first selection sub-operation of the user. And the user can select and obtain a plurality of target registration images from the plurality of camera registration images through a second selection sub-operation. The first and second selection sub-operations described above may be regarded as selection operations for camera registration.

In addition, the user can also select the internal reference information required to be used by the camera registration from the generated internal reference information in the third file selection page.

In addition, as shown in fig. 4B, controls for acquiring map information, buildings, floors, and areas are set in the third file selection page, and after the user sets the controls, the file downloads the "control, and the terminal displays a plurality of corresponding preset files in a pop-up window manner. The preset file includes the generated positioning configuration, tool parameters and files thereof, and may specifically include information such as a map corresponding to a demand party.

In addition, in the downloading process of the preset files, the information of the file type, the file name, the downloading progress and the like of each preset file is displayed in the third file selection page. Displaying the downloaded preset file according to the downloading progress, displaying a 'viewing' control in a third file selection page, and enabling a user to view the downloaded preset file by clicking the control. And for the preset file of which the downloading progress is displayed and is downloaded, displaying a cancel control in a third file selection page, clicking the cancel control by a user, and stopping downloading the preset file by the terminal. And displaying the preset file which is cancelled to be downloaded according to the downloading progress, displaying a retry control in a third file selection page, clicking the retry control by the user, and re-downloading the preset file by the terminal. In addition, an off-line downloading control is arranged in the third file selection page aiming at the preset file, and the user clicks the off-line downloading of the preset file can be realized.

In addition, the third file selects the names of the simultaneous camera registration images in the page, and carries out deletion operation after supporting multiple selections; meanwhile, offline picture uploading is supported, and images in a format of jpg/. jpeg/. png/. bmp/. tif are supported.

As shown in fig. 4B, a "start camera registration" control is set in the third file selection page, the user performs a camera registration operation by clicking the control, and then the terminal registers the target camera based on the plurality of target registration images, the target file, the external reference information, and the internal reference information.

Before executing camera registration, if the terminal detects that the target camera is a registered camera, displaying prompt information for judging whether to continue registration; the prompt information is used for prompting that the new registration result information covers the existing registration result information; illustratively, the terminal displays prompt information of 'registration completed, registration continuing will cover the original registration result, and whether the coverage is confirmed'. And if the user clicks confirmation, namely the user executes a registration confirmation operation for confirming continuous registration, the terminal displays 'start registration, please check the state on a registration display page', registers the target camera based on the target registration images, the target file, the external reference information and the internal reference information, and covers the existing registration result information with new registration result information. And if the target camera is detected not to be registered completely, displaying prompt information of 'start of registration, please check the state on a registration display page'.

Before executing the camera registration, if it is detected that the target file is not completely downloaded, the terminal displays a prompt message of waiting for the completion of the downloading of the target file, and illustratively displays a prompt message of "the file required for the camera registration is still being downloaded, and retry after the downloading is completed". And closing the prompt message after the user clicks the confirmation. And if the target file is detected to be downloaded, registering the target camera based on the target registration images, the target file, the external reference information and the internal reference information.

Before the terminal executes the camera registration, if it is detected that the external reference information and/or the internal reference information is not generated, the terminal displays prompt information of the internal and external reference information which needs to be generated in advance, and exemplarily displays prompt information of 'the camera does not generate an internal and external reference file and please retry after the generation is finished'. And closing the prompt message after the user clicks the confirmation. If it is detected that the external reference information and the internal reference information are both generated, registering the target camera based on the plurality of target registration images, the target file, the external reference information and the internal reference information.

When the camera registration is performed, a single-path camera may be registered, or multiple paths of cameras may be registered at the same time.

After the target camera is registered, registration result information is generated, and the registration result information may include at least one of registration time, identity information, and registration status of the target camera.

The user may click a "registration result" control on the terminal to view the camera registration result, and after the user clicks the control, the terminal displays a registration presentation page, as shown in fig. 4C. The page displays information such as the camera name, camera IP, device number, registration time, and status of each camera that needs to be registered. Wherein the status is used to indicate the registration status of the corresponding camera, for example, may include: in progress, completed, uncommitted, failed, etc.

As shown in fig. 4C, for a camera whose registration status indicates that registration has been completed, a "result viewing" control corresponding to the camera is displayed in a registration display page, and a user clicks the control to implement a registration viewing operation, and then the terminal acquires the registration result information of the target camera from a sixth preset position and displays the registration result information in the registration display page or displays the registration result information in a pop-up window manner, where after the registration result information is generated, the terminal stores the registration result information of the target camera in the sixth preset position. In addition, after the user clicks the result viewing control, the three-dimensional model generated in the target camera registration process can be displayed in a registration display page.

As shown in fig. 4C, for a camera whose registration status indicates that registration has been completed, a "calibration chart viewing" control corresponding to the camera is displayed in the registration display page, and by clicking the control, the terminal target camera displays a target scene image used in the process of generating external reference information in the registration display page or in a pop-up window.

As shown in fig. 4C, for a camera whose registration status indicates that registration has been completed, an "upload background" control corresponding to the camera is displayed in the registration display page, and by clicking the control, the user uploads registration result information generated by the terminal target camera to the background server. After the user clicks the control, if the device code of the target camera is not complete, prompting: the device code is not filled in, and the report is not supported; if the equipment code of the target camera is inconsistent with the background, prompting; and if no matched equipment codes exist, reporting the codes to fail.

As shown in fig. 4C, when the target camera fails to be registered, the terminal obtains a reason of the camera registration failure, generates and displays a third reason check control corresponding to the target camera on the registration display page, stores the reason of the camera registration failure in a seventh preset position, and establishes a third mapping relationship between the seventh preset position and the third reason check control. And after the user clicks the control, the terminal acquires the seventh preset position based on the third mapping relation, and acquires and displays the reason of the camera registration failure based on the seventh preset position.

In summary, as shown in fig. 5, the process of calibrating the camera parameters in the present disclosure includes: firstly, determining a target camera to be calibrated; then, capturing a plurality of internal reference calibration images; then selecting a plurality of first calibration images from the plurality of internal reference calibration images; then generating internal reference information based on the selected multiple first calibration images; then, capturing a plurality of external reference calibration images, and determining a target scene image; then, selecting a plurality of second calibration images from the plurality of external reference calibration images, and determining origin point information and coordinate axis information of the target scene image; then acquiring internal reference information of the target camera; and generating external reference information based on the selected multiple second calibration images, the target scene image and the internal reference information.

In addition, the terminal of the present disclosure may further perform system configuration, as shown in fig. 6, may configure a Universal Unique Identifier (UUID) of the merchant, an address of the background server, and the like. And the storage path and the like of various files for generating the internal reference information and the external reference information can be configured, and the information can be used in the processes of internal reference information generation, external reference information generation and camera registration after the setting is finished.

In addition, a help document can also be displayed in the terminal of the present disclosure, as shown in fig. 7, to show information such as a calibration flow, an image capture notice, an example image, and an example video.

It will be understood by those of skill in the art that in the above method of the present embodiment, the order of writing the steps does not imply a strict order of execution and does not impose any limitations on the implementation, as the order of execution of the steps should be determined by their function and possibly inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides a camera calibration device corresponding to the camera calibration method, and as the principle of solving the problem of the device in the embodiment of the present disclosure is similar to that of the camera calibration method in the embodiment of the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.

Referring to fig. 8, which is a schematic diagram of an architecture of a camera calibration apparatus provided in an embodiment of the present disclosure, the apparatus includes:

the internal reference camera selecting module 810 is configured to determine a target camera to be calibrated in response to a camera selecting operation for internal reference calibration, and display a plurality of internal reference calibration images captured by the target camera.

An internal reference image selecting module 820, configured to select multiple first calibration images from the multiple internal reference calibration images in response to a first image selecting operation for internal reference calibration.

A calibration board setting module 830, configured to obtain calibration board information in response to a calibration board setting operation for internal reference calibration; and each first calibration image of the plurality of first calibration images comprises a calibration plate corresponding to the calibration plate information.

An internal reference generation module 840, configured to generate internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information in response to an internal reference generation operation.

The camera calibration device in the present application may further include other modules to implement the corresponding functions in the steps of the method of the above embodiment, and repeated descriptions are omitted because the technical concepts are the same.

Based on the same technical concept, the embodiment of the disclosure also provides an electronic device. Referring to fig. 9, a schematic structural diagram of an electronic device 900 provided in the embodiment of the present disclosure includes a processor 91, a memory 92, and a bus 93. The memory 92 is used for storing execution instructions and includes a memory 921 and an external memory 922; here, the memory 921 is also referred to as an internal memory, and is configured to temporarily store operation data in the processor 91 and data exchanged with an external memory 922 such as a hard disk, and the processor 91 exchanges data with the external memory 922 through the memory 921, and when the electronic apparatus 900 is operated, the processor 91 communicates with the memory 92 through the bus 93, so that the processor 91 executes the following instructions:

responding to a camera selection operation aiming at internal reference calibration, determining a target camera to be calibrated, and displaying a plurality of internal reference calibration images shot by the target camera; selecting a plurality of first calibration images from the plurality of internal reference calibration images in response to a first image selection operation aiming at internal reference calibration; responding to a calibration plate setting operation aiming at internal reference calibration to obtain calibration plate information; each first calibration image in the multiple first calibration images comprises a calibration plate corresponding to the calibration plate information; and responding to an internal reference generation operation, and generating internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information.

The embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the camera calibration method in the above method embodiments are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product of the camera calibration method provided in the embodiments of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the camera calibration method described in the above method embodiments, which may be referred to specifically for the above method embodiments, and are not described herein again. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes and substitutions do not depart from the spirit and scope of the embodiments disclosed herein, and they should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A camera calibration method is characterized by comprising the following steps:

and responding to an internal reference generation operation, and generating internal reference information of the target camera based on the plurality of first calibration images and the calibration plate information.

2. The method of claim 1, wherein the displaying the plurality of internal reference calibration images captured by the subject camera comprises:

3. The method of claim 1 or 2, further comprising, after the generating the reference information of the target camera:

and responding to the internal reference viewing operation, acquiring the internal reference information of the target camera from the first preset position indicated by the internal reference viewing operation, and displaying the internal reference information through an internal reference display page.

4. The method of claim 3, further comprising, after said displaying via the reference show page:

responding to a second image selection operation, selecting an image to be verified from the displayed images shot by the target camera, and displaying the image in the internal reference display page;

5. The method of claim 3 or 4, further comprising:

6. The method of any of claims 1 to 5, further comprising:

responding to a second file selection operation, and displaying the plurality of external parameter calibration images through a second file selection page;

responding to a third image selection operation aiming at external parameter calibration, selecting and obtaining a plurality of second calibration images from the plurality of external parameter calibration images, obtaining a target scene image based on at least one scene image, and selecting a page from a second file to display the plurality of selected second calibration images and the target scene image;

generating external parameter information of the target camera based on the plurality of second calibration images, the target scene image and the internal parameter information in response to an external parameter generation operation.

7. The method of claim 6, further comprising, prior to said deriving the target scene image based on the at least one scene image:

and in response to a parameter saving operation aiming at the scene image, storing the scene image, the origin point information and the coordinate axis information in a third preset position in an associated manner.

8. The method of claim 7, wherein the associating and storing the scene image, the origin information and the coordinate axis information at a third preset position comprises:

9. The method according to claim 7, wherein after displaying the at least one captured image of the scene via the image calibration page, further comprising:

10. The method of claim 7, wherein the parameter setting operation comprises a new increment sub-operation and a parameter setting sub-operation;

11. The method of claim 6, further comprising, after the generating of the extrinsic information of the target camera:

12. The method of claim 11, after the presenting through the external presentation page, further comprising:

stopping the external reference generation operation of the target calibration camera in response to an external reference confirmation cancellation operation;

13. The method of claim 11, further comprising:

14. The method of claim 6, further comprising:

15. The method of claim 14, wherein registering the target camera based on the plurality of target registration images, the target file, the extrinsic information, and the intrinsic information in response to a camera registration operation comprises:

16. The method of claim 14, further comprising, after said registering the target camera:

responding to a registration viewing operation, acquiring registration result information of the target camera from a sixth preset position indicated by the registration viewing operation, and displaying the registration result information in a registration display page;

displaying the three-dimensional model generated in the target camera registration process in a registration display page in response to a click operation on a result viewing control in the registration display page; and/or the presence of a gas in the gas,

17. The method of claim 16, after presenting the registration presentation page, further comprising:

18. A camera calibration device is characterized by comprising:

19. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the camera calibration method as claimed in any one of claims 1 to 17.

20. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the camera calibration method according to any one of claims 1 to 17.