CN116456070A - Camera calibration method and device based on digital twin and computer storage medium - Google Patents
Camera calibration method and device based on digital twin and computer storage medium Download PDFInfo
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Abstract
The invention provides a camera calibration method and device based on digital twin and a computer storage medium. The method comprises the following steps: acquiring a plurality of real images obtained in a real optical laboratory scene, wherein the plurality of real images are obtained by shooting real targets in different real light environment scenes by using a real camera; acquiring a plurality of digital images obtained in a digital optical laboratory scene, wherein the digital images are obtained by shooting digital targets in different digital optical laboratory scenes by using a digital camera; comparing and analyzing the corresponding digitized image and the real image to obtain image data with differences; and correcting the image data of the digital camera according to the image data with the difference. The method can keep the effect of the digital camera to the greatest extent, saves the requirement of the camera hardware on ring test, compares the digital modeling once in actual use, and can be used for simulating the requirement of a plurality of clients.
Description
Technical Field
The present invention relates to the field of computers, and in particular, to a digital twin-based camera calibration method, device and apparatus, and a computer readable storage medium.
Background
The automatic driving system at least needs to test and verify the system and algorithm through 110 hundred million miles of driving data to reach the condition of mass production, so the aim is extremely difficult to be fulfilled by simply relying on real-vehicle drive test, and the simulation test is needed to be passed before the drive-in test. The simulation test comprises a perception algorithm simulation, which requires a three-dimensional reconstruction scene with high reduction degree and an accurate sensor model, but most of the existing simulation software manufacturers have insufficient accuracy in the aspect of camera sensor model, digital parameters which can be provided in the aspect of camera sensor imaging are less, and the digital parameters have larger difference with an actual camera, so that the image information acquired by the perception algorithm during the simulation cannot accurately reflect the imaging effect of the actual camera.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a digital twin-based camera calibration method and apparatus and a computer storage medium that enhance the authenticity of digital camera imaging.
In a first aspect, the present application provides a method for digital camera optimization, the method comprising: acquiring a plurality of real images obtained in a real optical laboratory scene, wherein the plurality of real images are obtained by shooting real targets in different real light environment scenes by using a real camera; acquiring a plurality of digital images obtained in a digital optical laboratory scene, wherein the digital images are obtained by shooting digital targets in different digital optical laboratory scenes by using a digital camera, the digital optical laboratory scenes are constructed based on real light laboratory scenes, different light sources in the digital optical laboratory are generated through color change of analog light, the digital targets are constructed based on real targets, each real image acquired in a first environment corresponds to the digital image acquired in a second environment, the first environment is one real optical laboratory scene, and the second environment is the digital optical laboratory scene corresponding to the first environment; comparing and analyzing the corresponding digitized image and the real image to obtain image data with differences; and correcting the image data of the digital camera according to the image data with the difference.
Further, the acquiring a plurality of real images obtained in a real optical laboratory scene includes: the real camera is utilized to shoot the real targets in different real optical laboratory scenes to obtain the real images, the real targets are composed of one or more of 24-color cards, ISO12233 test cards and Q14 tone cards, the different real optical laboratory scenes are composed of different real targets and optical environments, the optical environments are formed by adjusting color temperatures of light sources, the color temperatures of the light sources can be adjusted through a lamp box, the images are RAW images and are recorded in a preset first data format, and the first data recording format is determined by an operation system of the real camera.
Further, the analyzing and comparing the corresponding digitized image and the real image to obtain the image data with differences specifically includes: and respectively acquiring the image data of the real images recorded by the first data format and the digitized images recorded by the second data format, wherein the digitized images are RAW images recorded by a preset second data recording format, and the second data recording format is determined by an operation system of the digital camera. Formatting the image data of the real images and the image data of the digitized images to obtain the image data of the real images and the digitized images with the same data format;
and respectively carrying out one-to-one correspondence analysis on the image data of the formatted real images and the formatted digitized images to obtain the image data with the difference.
Further, the acquiring the image data of the plurality of real images recorded in the first data format and the plurality of digitized images recorded in the second data format includes: the method comprises the steps of importing a plurality of real images recorded by a first data format and a plurality of digitized images recorded by a second data format into preset first software to obtain image data, wherein the preset first software comprises Imatest software, and the image data comprises: color parameters, saturation, white balance error, denoising parameters, gray scale identification parameters, color temperature, hue, contrast, sharpness, gamma, color difference, and noise.
Further, the analyzing the image data of the formatted real images and the formatted digitized images in a one-to-one correspondence manner to obtain the image data with the difference includes: inputting the image data of the formatted real images and the formatted digitized images into preset second software to obtain an image data test result, wherein the second preset software comprises the following steps: DXO Master software, the image data test results comprising: color depth, dynamic range, low brightness ISO, signal to noise ratio, distortion, vignetting, sharpness, glare;
and adjusting the digital camera parameters according to the test result.
In a second aspect, the present application also provides a digital camera optimization apparatus, the apparatus comprising:
a memory for storing computer program instructions;
and the processor is used for executing the computer program instructions to realize the optimization method of the digital camera.
In a third aspect, the present application also provides a computer readable storage medium storing program instructions executable by a processor to implement the above-described method of optimizing a digital video camera.
According to the optimization method of the digital camera, the image obtained by shooting the real target in the real environment is compared with the image obtained by shooting the virtual target in the virtual environment by utilizing the digital camera, the image data of the digital camera and the image data of the real camera are obtained, the image data of the digital camera is modified according to the image data of the real camera, so that the effect of the digital camera is kept to the greatest extent, the effect of the real camera is saved, the requirement of camera hardware in ring test is saved, in actual use, the digital modeling is compared once, the flexibility of the digital model is high, and the digital camera can be adjusted according to different requirements and scenes to adapt to different user requirements, meanwhile, the requirement of road test and ring test is reduced, a lot of manpower time can be saved, and the manpower cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a digital twin-based camera calibration method according to an embodiment of the present application.
Fig. 2 is a schematic view of a real optical laboratory scene provided in an embodiment of the present application.
Fig. 3 is a schematic view of a virtual optical laboratory scene provided in an embodiment of the present application.
Fig. 4 is a schematic sub-flowchart of the digital twin-based camera calibration method shown in fig. 1.
Fig. 5 is a schematic diagram of a digital camera optimization device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances, or in other words, the described embodiments may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, may also include other items, such as processes, methods, systems, articles, or apparatus that include a series of steps or elements, are not necessarily limited to only those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such processes, methods, articles, or apparatus.
It should be noted that the description herein of "first," "second," etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
The camera calibration method based on digital twin can optimize parameters related to imaging effects of the digital camera (namely the digital camera), so that images shot by the digital camera can approach to the effects of images shot by the real camera without intermediate adjustment, and the simulation platform simulation effect of the digital camera is better.
Referring to fig. 1, fig. 1 is a flow chart of a digital twin-based camera calibration method according to an embodiment of the present application, and the digital twin-based camera calibration method is applied to a simulation software platform. It will be appreciated that the simulation software platform optimizes the digital camera prior to performing the simulation. For example, if the simulation software platform is an autopilot simulation platform, before the autopilot simulation platform is used for autopilot simulation, the digitized camera needs to be optimized. The camera calibration method based on digital twinning comprises the following steps.
Step S101, obtaining a plurality of real images obtained in a real optical laboratory scene, wherein the plurality of real images are obtained by shooting real targets in different real light environment scenes by using a real camera. As shown in fig. 2, the real optical laboratory scene includes a light box light source 2, a graphics card (e.g., one or more of a 24-color card 3, an ISO12233 test card 4, a Q14 tone scale card 5) that is computer printed. Wherein the light box light source 2 can form said different real optical laboratory environments by emitting light of different wavelengths. For example, the color temperature on sunny days is higher, the light wavelength emitted by the light source of the light box is shorter, the color temperature on cloudy days is lower, and the light wavelength emitted by the light source of the light box is longer. One or more of the 24 color card 3, the ISO12233 test card 4, the Q14 tone card 5 constitute a real target in a real optical laboratory, which target exhibits different colors under light irradiation of different wavelengths, which target exhibits blue when the color temperature of the light emitted by the light box light source is high, and yellow when the color temperature of the light is low. The real video camera comprises a digital camera and a scanner.
It can be understood that by adjusting the wavelength of the light emitted by the light box light source 2, different light environment scenes such as cloudy days, rainy days, sunny days and the like are simulated by the real laboratory, and the real camera shoots different real targets under the different light environment scenes to obtain a plurality of real images. Constructing the real optical scene facilitates simplifying construction of a virtual scene, as will be more readily appreciated in connection with the following.
Step S102, acquiring a plurality of digital images obtained in a digital optical laboratory scene, wherein the digital images are obtained by shooting digital targets in different digital optical laboratory scenes by using a digital camera, the digital optical laboratory scenes are constructed based on real light laboratory scenes, different light sources in the digital optical laboratory are generated through color change of analog light, the digital targets are constructed based on real targets, each real image acquired in a first environment corresponds to the digital image acquired in a second environment, the first environment is one real optical laboratory scene, and the second environment is the digital optical laboratory scene corresponding to the first environment. As shown in fig. 3, the lamp house light source color temperature 2 is virtualized to form a virtual lamp house light source, for example, light source simulation is realized by providing light with different colors by using Unity 3D. And loading the virtual lamp box light source and the electronic target graphic card to a simulation software platform to obtain a digital light laboratory scene corresponding to the real optical laboratory. The electronic target graphic card loaded to the simulation software platform is a digital target. The method comprises the steps of simulating a digital target according to a real target according to light emitted by a light source in a real optical scene, namely the real light source color temperature and the digital light source color temperature are the same, so as to acquire a digital scene corresponding to the real optical scene. Different real optical laboratory scenes are formed by different real light source color temperatures and different targets, and different digital laboratories are simulated according to different real light environment scenes. The images acquired with the real camera under the real light environment scene correspond to the images acquired at the corresponding digitizing laboratory.
It will be appreciated that a plurality of digitized images are acquired by capturing a digitized object with a digitized camera in a digitized optical laboratory scene. For example, the virtual light source lamp box emits a digitized light with a blue color temperature, and the digitized camera shoots a digitized target under the sunny scene to obtain an image. Because the real light laboratory can utilize the lamp house light source and the effect that the picture card was shot under different scenes, be equivalent to more simple direct shooting different light environments, for example, real scenes such as sunny day, overcast day, and the like, correspondingly, also make the construction of virtual scene simpler and more convenient equally.
Step S103, comparing and analyzing the corresponding digitized image and the real image to obtain image data with differences 。 Inputting digitized and real images into the DXO Master softwareImage data of the digitized image and the corresponding real image can be obtained, the image data having differences comprising: gray scale recognition parameters, color temperature, hue, contrast, definition, gamma, chromatic aberration, noise, color depth, dynamic range, low brightness ISO, signal to noise ratio, distortion, vignetting, sharpness, glare and the like, and after difference data is obtained by comparing the difference between the output digitized image data and real image data, corresponding hardware data difference points are analyzed according to the difference image data. Inputting the digitized image and the real image parameters into Imatest software to obtain differences of imaging effects of the digitized camera and the real camera, wherein the image data comprises: color parameters, saturation, white balance error, denoising parameters. The image data also includes data for constructing the virtual optical laboratory, and a more realistic simulation environment is established by continuously changing the data for constructing the virtual optical laboratory according to the image data.
It can be understood that the real image and the corresponding digitized image are input to DXO Master software, different image data of the real image and the digitized image are obtained, and the image data with differences of the digitized camera and the real camera can be obtained by performing one-to-one correspondence analysis on the image data of the real image and the digitized image in different scenes.
Step S104, correcting the image data of the digital camera according to the image data with the difference. Since the digitized camera and the real camera capture and acquire images in corresponding light environment scenes, the image data of the digitized camera and the real camera acquired according to the images should be consistent.
It will be appreciated that the data for constructing the digitized laboratory scene may also be adjusted based on the image data to reconstruct the virtual laboratory scene, for example, the color temperature data of the digitized light source is adjusted, the digitized image is acquired again in the reconstructed virtual laboratory, the acquired image is input into DXO Master software to acquire new image data, and new image data comparison results are acquired via the comparison data. And adjusting the image data of the digital camera and the digital light source according to the comparison result, shooting again in a digital laboratory after adjusting the digital light source by using the digital camera with the adjusted parameters to obtain an image, inputting the image into Imatest software to obtain new image data, and repeating the steps until the image effect shot by the digital camera is nearly consistent with the image effect shot by the real camera. Because the modules of different real cameras are different, the modules of the digital camera for adjusting the image data according to the real cameras are also different, and the modules are represented by physical parameters such as physical focal length, output resolution width, output resolution height, radial distortion coefficient K1, radial distortion coefficient K2, radial distortion coefficient K3, tangential distortion coefficient P1, tangential distortion coefficient P2, and the like. Different digital cameras can be set by adjusting focal length, resolution, radial distortion coefficient and tangential distortion coefficient, the digital model has high flexibility, and can be adjusted according to different requirements and scenes so as to adapt to different user requirements. Because DXO Master software processing can quickly obtain image data with differences between images according to the image data, the analysis process is greatly accelerated.
Referring to fig. 4, fig. 4 is a schematic flow chart of another substep of step 103. Step 103 includes the following steps.
Step S201, respectively obtaining image data of the real images recorded by the first data format and the digitized images recorded by the second data format, where the digitized images are recorded by the second data recording format preset by the RAW chart, and the second data recording format is a preset format. The first data recording format is associated with an internal system of the actual camera. The digitized image is recorded in a preset format in the computer, and the digitized image is an original image file. The real image is recorded by a format of recorded image data inside the real camera, the format of the recorded image data is related to an internal system of the real camera, and the real image is an original image file. The original image file contains data processed from the image sensor of a digital camera, scanner, or motion picture film scanner, so named because they have not been processed, printed or used for editing, convenient printing, or further processing. The original image files, sometimes also called digital negatives, because they play the same role as film negatives, are not used directly as images, but rather create an image containing all the information. Also, the conversion process into a visual format raw image file, sometimes referred to as rendering the raw image, corresponds to the metaphor used for converting photographic film into a visual image during the development of a motion picture. Image rendering is part of the process of white balancing and color grading. Typically, the original image has a wide gamut of internal colors, can be precisely adjusted, and can be modified simply prior to conversion, such as TIFF or JPEG file format storage. Just like photographic film, the original digital image may have a wider dynamic range ratio and image format or gamut that retains most of the captured image information. The purpose of the raw image format is to keep the loss of information to a minimum, data obtained from the sensors, and surrounding captured images (metadata). These images are often referred to as "RAW image files". The recording format of these images often depends on the device of the color image, although in reality it does not refer to a single original file format. There are tens of different models of digital devices in which such formats are used (commonly digital cameras or film scanners).
Step S203, performing formatting processing on the image data of the real images and the image data of the digitized images to obtain image data of the real images and the digitized images with the same data format. The formatting process is to unify the data formats of the real image and the digitized image and unify the data formats to be stored by the same file format, wherein the formats comprise a fixed-point format, a floating-point format, a binary format and an ASCII data format, and the same file format comprises: TIFF, JPEG file format, etc.
In step S205, the image data of the formatted real images and the formatted digitized images are respectively analyzed in a one-to-one correspondence manner to obtain the image data with the difference.
By comparing the image generated by the digital camera with the image generated by the actual camera, and feeding the actual imaging performance back to the digital camera, the invention ensures that the effect of the digital camera keeps the effect of the actual camera to the greatest extent, and obtains the digital camera imaging model with different modules in different light environments such as cloudy days, rainy days, sunny days and the like.
Please refer to fig. 5, which is a schematic diagram of an internal structure of the digital camera optimizing apparatus according to an embodiment of the present application. The digitized camera optimization device 200 is used for simulation, and the computer device 200 includes a memory 202, and a processor 201. Wherein the processor 201 is configured to execute the executable program to implement the optimization method of the digital video camera as provided in the above embodiment.
The processor 201 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments for executing computer executable programs stored in the memory 202. Specifically, the processor 201 executes an executable program to implement the optimization method of the digital video camera provided by the above-described embodiment.
Memory 202 includes at least one type of readable storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. Memory 202 may be an internal storage unit of computer device 200 in some embodiments, such as a hard disk of computer device 200. The memory 202 may also be an external computer device 200 storage device in other embodiments, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash memory Card (Flash Card) or the like, provided on the computer device 200. Further, the memory 202 may also include both internal storage units and external storage devices of the computer device 200. The memory 202 may be used not only for storing application software installed in the computer device 200 and various types of data, such as codes for implementing an optimization method of a digital video camera, but also for temporarily storing data that has been output or is to be output.
The computer device 200 also includes a bus 203. Bus 203 may be a peripheral component interconnect standard
(peripheral component interconnect, PCI for short) bus or extended industry standard architecture (extended industry standard architecture, EISA for short) bus, etc. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Further, the computer device 200 can also include a display component 204. The display assembly 204 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display component 204 may also be referred to as a display device or display unit, as appropriate, for displaying information processed in the computer device 200 and for displaying a visual user interface.
Further, the computer device 200 can also include a communication component 205. The communication component 205 can optionally include a wired communication component and/or a wireless communication component (e.g., WI-FI communication component, bluetooth communication component, etc.), typically used to establish a communication connection between the computer device 200 and other computer devices.
Fig. 5 shows only a computer device 200 having partial components and implementing a simulation method of the autopilot of the drawing, and it will be understood by those skilled in the art that the structure shown in fig. 5 is not limiting of the computer device 200 and may include fewer or more components than shown, or may combine certain components, or a different arrangement of components.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the invention, in whole or in part. The computer device may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or the like, which can store program codes.
It should be noted that, the foregoing reference numerals of the embodiments of the present invention are merely for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The digital twin camera calibration method is characterized by comprising the following steps of:
acquiring a plurality of real images obtained in a real optical laboratory scene, wherein the real images are obtained by shooting real targets in different real light environment scenes by using a real camera, the real optical laboratory scene comprises the real light environment scenes, and the different real light environment scenes are obtained by adjusting a real light source scene and transforming the real targets;
acquiring a plurality of digital images obtained in a digital optical laboratory scene, wherein the digital images are obtained by shooting digital targets in different digital optical environment scenes by using a digital camera, the digital optical laboratory scenes are constructed based on real optical laboratory scenes, different light sources in the digital optical laboratory are generated through color change of analog light, the digital targets are constructed based on the real targets, each real image acquired in a first environment corresponds to the digital image acquired in a second environment, the first environment is one real optical laboratory scene, and the second environment is the digital optical laboratory scene corresponding to the first environment;
comparing and analyzing the corresponding digitized image and the real image to obtain image data with differences;
and correcting the image data of the digital camera according to the image data with the difference.
2. The digital twinning-based camera calibration method of claim 1, wherein the acquiring a plurality of real images obtained in a real optical laboratory scene comprises:
the real camera is utilized to shoot the real targets in different real optical laboratory scenes to obtain the real images, the real targets are composed of one or more of a 24-color card, an ISO12233 test card, a Q14 tone scale card, a distortion test card and a dynamic range test card, the real optical laboratory scenes comprise real light source scenes, the different real light source scenes are obtained by adjusting the real light source scenes and transforming the real targets, the different real optical laboratory scenes are composed of different real targets and optical environments, the optical environments are formed by adjusting the color temperature of the light sources, the color temperature of the light sources can be adjusted through a lamp box, the images are RAW images and recorded in a preset first data format, and the first data recording format is related to an internal system of the actual camera.
3. The digital twinning-based camera calibration method of claim 1, wherein the digitized image test card comprises a digitized 24-color card, an ISO12233 test card, a Q14 tone scale card, a distortion test card, a dynamic range test card.
4. The digital twinning-based camera calibration method of claim 1, wherein the real light source scene comprises a real light source light box device, the real target scene being composed of one or more of a real image test card, a real model device; the digital light source scene comprises digital light source lamp box equipment, and the digital target scene comprises one or more of digital image test card and digital model equipment.
5. The digital twin based camera calibration method according to claim 1, wherein the analyzing and comparing the corresponding digitized image and real image to obtain image data with differences specifically comprises:
respectively acquiring image data of a plurality of real images recorded by a first data format and a plurality of digitized images recorded by a second data format, wherein the digitized images are recorded by a RAW chart by a preset second data recording format, and the second data recording format is a preset format in a digitized camera;
formatting the image data of the real images and the image data of the digitized images to obtain the image data of the real images and the digitized images with the same data format;
and respectively carrying out one-to-one correspondence analysis on the image data of the formatted real images and the formatted digitized images to obtain the image data with the difference.
6. A digital twinning-based camera calibration method according to claim 3, wherein the separately acquiring image parameters of the plurality of real images recorded by the first data format and the plurality of digitized images recorded by the second data format includes:
the image data is obtained by importing the real images recorded by the first data format and the digitized images recorded by the second data format into preset first software, the preset first software comprises DXO Raw Master software, and the image parameters comprise: color depth, dynamic range, low brightness ISO, signal to noise ratio, distortion, vignetting, sharpness, glare.
7. The digital twin camera calibration method according to claim 3, wherein the performing a one-to-one correspondence analysis on the image data of the formatted real images and the digitized images to obtain the image data with the difference comprises:
inputting the image data of the formatted real images and the formatted digitized images into preset second software to obtain an image data test result, wherein the second preset software comprises the following steps: imatest software, the image data test results comprising: AWB and color parameters, dynamic range, denoising parameters;
and adjusting the digital camera parameters according to the test result.
8. A digital camera optimization apparatus, comprising:
a memory for storing computer program instructions;
a processor for executing the computer program instructions to implement the method of optimizing a digital camera as claimed in any one of claims 1 to 6.
9. A computer readable storage medium storing program instructions executable by a processor to implement the method of optimizing a digital camera according to any one of claims 1 to 6.
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