CN117750184A

CN117750184A - Camera installation and adjustment method and related device

Info

Publication number: CN117750184A
Application number: CN202211157931.3A
Authority: CN
Inventors: 巫仕文
Original assignee: XFusion Digital Technologies Co Ltd
Current assignee: XFusion Digital Technologies Co Ltd
Priority date: 2022-09-22
Filing date: 2022-09-22
Publication date: 2024-03-22

Abstract

The application discloses an installation and adjustment method of a camera, which is used for a camera assembly scene. The method comprises the following steps: the adjusting device generates a reference image, and the camera shoots the reference image to obtain a target image. The adjusting device collects a target image from the camera and calculates a deflection angle of the camera according to the reference image and the target image. According to the method, the deflection angle of the camera is obtained in a calculating mode, and compared with the method of judging through personal experience, the method is more accurate in result, so that the installation accuracy of the camera can be improved.

Description

Camera installation and adjustment method and related device

Technical Field

The present disclosure relates to the field of camera assembly, and in particular, to a method for adjusting installation of a camera and a related device.

Background

With the development of information technology, requirements of video conference scenes on picture imaging are increasing, and in particular, the visual angle of an image is required to be as large as possible, and distortion is required to be as small as possible. The multi-view co-optical center camera can meet the two requirements, wherein the co-optical center refers to the mode that the multi-view camera enables imaging optical centers of a plurality of sub-cameras to be at the same position through shooting a reflecting prism. The multi-view co-optical center camera can transmit the images of the sub-cameras to an image processing chip, the chip processes the transmitted images in real time, and the images are output after being combined into a complete panoramic image, so that the images are large enough and cannot be deformed.

However, due to cost limitation, when the multi-view co-optical center camera is produced and assembled, the machining precision of the mechanical structure of the fixed sub-camera often cannot ensure the installation precision of each sub-camera, for example, the installation angle of the sub-camera is deviated, and thus, the spliced image is deviated. For this problem, the precision of the mechanical structure of the stator camera can be improved, but the material cost will be increased by times, and the actual production requirement is not met.

In another improvement method at present, an operator observes the spliced images during production and assembly, judges whether the images have deviation or not, and adjusts the adjusting screw of the sub-camera according to personal experience to correct the deflection angle. However, this method relies too much on the personal experience of the operator and the accuracy of the adjustment is low.

Disclosure of Invention

The application provides a method for adjusting the installation of a camera and a related device, which can improve the installation precision of the camera.

A first aspect of the present application provides a method for adjusting the installation of a camera, the method comprising: the adjusting device generates a reference image; the adjusting device acquires a target image from the camera, wherein the target image is obtained by shooting a reference image by the camera; the adjusting device calculates the deflection angle of the camera according to the reference image and the target image.

The adjustment device first generates a reference image, which may also be referred to as a test chart (chart), or a chart. The chart comprises special marks, the number, the shape and the position of the special marks can be set according to actual needs, for example, the shapes of the special marks can be black squares, cross frames or circles and the like, and the shapes of coordinates can be calculated by the image recognition algorithm conveniently. Although the number and positions of the special marks are not particularly limited, the number of the special marks is at least two, and two special marks are required on the same side of the chart to calculate the deflection angle of the camera in the circumferential Z direction.

The camera shoots the reference image to obtain a target image, and each special mark in the target image is provided with a corresponding target mark. The adjusting device judges whether the mounting of the camera is deviated or not according to the position (namely, the coordinates) of the special mark and the position of the target mark, and the adjusting device calculates the deflection angle of the camera under the condition that the mounting is deviated. Specifically, the deflection angle of the camera includes the deflection angles of the camera in the X direction, the Y direction, and the surrounding Z direction. The adjusting device calculates the deflection angles of the camera in the three directions, respectively, and of course, the adjusting device may calculate the deflection angle in one or two directions only, which is not limited herein.

In the first aspect of the present application, the adjusting device calculates the deflection angle of the camera according to the positions of the special mark and the target mark. Compared with the deflection angle judged according to experience, the deflection angle obtained through calculation is more accurate, so that the installation accuracy of the camera can be improved, and the installation accuracy of the camera is stable. In addition, as the calculation result is more accurate, the installation and adjustment of the camera can be completed more quickly, and the efficiency is improved.

In a possible implementation manner of the first aspect, the method further includes: the adjusting device adjusts the mounting position of the camera according to the deflection angle.

In this possible implementation manner, the adjusting device includes a computing device and an adjusting piece, where the computing device may be a personal computer, a tablet computer, a mobile phone, and the adjusting piece may be a manipulator. The adjusting device adjusts the installation position of the camera through the manipulator after calculating the deflection angle of the camera through the calculating device. The camera is provided with corresponding adjusting screws in the X direction, the Y direction and the surrounding Z direction, and the adjusting device corrects the deflection angle of the camera in the corresponding direction by rotating the adjusting screws through the manipulator until the deflection angle in the direction is smaller than a preset threshold value.

In this kind of possible implementation, adjusting device can be according to the deflection angle of calculation, adjusts the mounted position of camera through the manipulator to can further promote the installation accuracy, and use manpower sparingly cost.

In a possible implementation manner of the first aspect, the camera includes a reflecting prism, and the reference image is disposed opposite to the reflecting prism. In this possible implementation, the camera comprises a reflecting prism for changing the direction of the optical axis. The reflecting prism comprises an incident surface and an emergent surface, wherein the surface of the reflecting prism, on which light is incident, is called the incident surface, and the surface on which the light is emitted is called the emergent surface. The exit face is facing the camera lens. The reference image needs to be placed opposite to the incident surface so as to ensure that the incident surface can acquire the content of the reference image.

In a possible implementation manner of the first aspect, the camera is a multi-view co-centric camera. The multi-view co-optical center camera comprises a plurality of sub-cameras, and imaging optical centers of the plurality of sub-cameras are in the same position. When the cameras are multi-view co-centering cameras, each sub-camera in the multi-view co-centering cameras needs to have a corresponding chart, the adjusting device can generate a chart for each sub-camera, or can generate the same chart for all the sub-cameras, that is, the chart corresponding to each sub-camera can be the same or different. When the cameras are multi-view concentric cameras, the chart is required to be vertically placed right in front of the corresponding sub-cameras, and the adjusting device calculates the deflection angle of each sub-camera and adjusts each sub-camera.

A second aspect of the present application provides an adjustment device comprising a generation unit, an acquisition unit and a calculation unit. A generation unit configured to generate a reference image; the acquisition unit is used for acquiring a target image from the camera, wherein the target image is obtained by shooting a reference image by the camera; and the calculating unit is used for calculating the deflection angle of the camera according to the reference image and the target image.

In a possible implementation manner of the second aspect, the adjusting device further includes an adjusting unit for adjusting the mounting position of the camera according to the deflection angle.

In a possible implementation manner of the second aspect, the camera includes a reflecting prism, and the reference image is disposed opposite to the reflecting prism.

In a possible implementation manner of the second aspect, the camera is a multi-view co-centric camera.

The adjusting device provided in the second aspect of the present application is used for executing the method in the first aspect or any one of possible implementation manners of the first aspect.

A third aspect of the present application provides an adjustment device comprising a processor and a memory. The memory is configured to store instructions and the processor is configured to obtain the instructions stored in the memory, to perform the method according to the first aspect or any one of the possible implementation manners of the first aspect.

A fourth aspect of the present application provides a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

A fifth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method as described in the first aspect or any one of the possible implementations of the first aspect.

A sixth aspect of the present application provides a chip system comprising at least one processor and a communication interface, the communication interface and the at least one processor being interconnected by a wire, the at least one processor being adapted to run a computer program or instructions to perform the method of the first aspect or any one of the possible implementations of the first aspect.

Drawings

FIG. 1 is a schematic diagram of a multi-view co-centric camera and mechanical structure according to an embodiment of the present application;

FIG. 2 is a schematic diagram of one embodiment of an installation adjustment method provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a chart provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a placement position of a chart according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a sub-camera offset in an X direction according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a sub-camera offset in the Y direction according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a sub-camera offset around the Z direction according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an adjusting device according to an embodiment of the present application;

FIG. 9 is a schematic view of another structure of an adjusting device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of another adjusting device according to an embodiment of the present application.

Detailed Description

The embodiment of the application provides a method for adjusting the installation of a camera and a related device, which can improve the installation precision of the camera. The embodiments of the present application also provide a corresponding apparatus, computer-readable storage medium, computer program product, etc. The following description will be given separately.

Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application. The terminology used in the description section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.

As one of ordinary skill in the art can appreciate, with the development of technology and the appearance of new scenes, the technical solutions provided in the embodiments of the present application are applicable to similar technical problems.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" or similar expressions thereof, means any combination of these items, including any combination of single or plural items. The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, 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 terms so used are interchangeable under appropriate circumstances and are merely illustrative of the manner in which the embodiments of the application described herein have been described for objects of the same nature. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Currently, video conference scenes require that the visual angle of an image is as large as possible, while the visual angle of a traditional camera is small and does not meet the requirements, so that a panoramic camera can be adopted. The types of panoramic cameras mainly comprise multi-camera convergence, single-camera rotation, single-camera fisheye lenses, dense camera arrays, multi-eye co-optical center cameras and the like. The sub-cameras are installed in a simple mode in a multi-camera convergence mode, the resolution ratio of the shot panoramic image is high, the long-range images can be spliced seamlessly, but the middle-near images cannot be spliced seamlessly due to parallax problems, and the image splicing algorithm is complex. The panoramic image obtained by shooting in a single-camera rotation mode is high in resolution, all depth ranges can be spliced seamlessly, but the panoramic image is only suitable for shooting stationary objects, deformation and segmentation of moving objects can be achieved, and an image splicing algorithm is complex. The single-camera fisheye lens uses a single camera for imaging, image stitching is not needed, but the resolution of the image is low, the requirement on the environment brightness is high, and the image has serious distortion. Each depth range can be spliced seamlessly in the dense camera array mode, the image is not deformed, but more cameras are needed, and the splicing algorithm is complex. The resolution ratio of the panoramic image shot by the multi-view co-optical center camera is high, all depth ranges can be spliced seamlessly, the spliced image cannot be deformed, the splicing algorithm is simple, and the requirement on the installation precision of the sub-camera is high.

From the above, the advantages of the multi-view co-centric camera are obvious, and the multi-view co-centric camera is described below.

Please refer to fig. 1, which is a schematic diagram of a multi-view co-centric camera and a mechanical structure for fixing the multi-view co-centric camera according to an embodiment of the present application.

As shown in fig. 1, the mechanical structure is used to secure a multi-view co-centered camera. The multi-view co-optical center camera is a three-view co-optical center camera and comprises three sub-cameras and a reflecting prism, wherein the three sub-cameras are a sub-camera A, a sub-camera B and a sub-camera C respectively. The three sub-cameras face different directions, and angles among the sub-cameras can be set according to actual needs. The reflecting prism is used for changing the direction of the optical axis and is arranged below the lenses of the three sub-cameras. The reflecting prism comprises an incident surface and an emergent surface, wherein the surface of the reflecting prism, on which light is incident, is called the incident surface, and the surface on which the light is emitted is called the emergent surface. The reflecting prism also has three entrance faces and three exit faces corresponding to the three sub-cameras, one for each sub-camera. The angle between the three entrance facets is the same as the angle between the three sub-cameras. For example, the angle between the sub-camera a and the sub-camera B is 120 degrees, and the angle between the first incident surface and the second incident surface is also 120 degrees. The three exit surfaces are on the same plane, and the three exit surfaces are respectively opposite to the lenses of the three sub-cameras, and are perpendicular to the lenses of the sub-cameras in general.

Corresponding to each sub-camera, the mechanical structure is provided with corresponding adjusting screws, and the number of the adjusting screws of each sub-camera is generally three, so that the mounting angles of the sub-cameras in the X direction, the Y direction and the surrounding Z direction (namely, the direction perpendicular to the XY plane) are respectively adjusted.

It will be appreciated that fig. 1 is only illustrative, and that the number of sub-cameras may be 4, 5 or more in practice, but greater than or equal to 3 is required to ensure that the angle of visibility of the image is sufficiently large. In addition, instead of one adjusting screw adjusting the installation angle in one direction, one adjusting screw adjusting the installation angle in two directions or even three directions may be used. Alternatively, the mounting angle of one direction is adjusted by two adjusting screws, for example, one adjusting screw is coarse adjusting and the other adjusting screw is fine adjusting, and the number of adjusting screws is correspondingly changed at this time, which is not limited herein.

The precision of the mechanical structure used at present is generally not high, the installation precision of the sub-cameras cannot be guaranteed, and the spliced images have deviation. The cost required for improving the mechanical structure precision is higher, and the actual production requirement is not met, so that when the mechanical structure precision is produced and assembled, an operator generally observes the spliced image, judges whether the image has deviation or not, and adjusts the corresponding adjusting screw according to personal experience to correct the deflection angle. However, this method is too dependent on personal experience of the operator, and the adjustment accuracy is low and the adjustment efficiency is also low.

In view of this, the embodiment of the application provides a method for adjusting the installation of a camera. Specifically, a reference image with a special mark is generated by an adjusting device, then the reference image is shot by a camera to obtain a target image, and the adjusting device collects the target image from the camera. Corresponding target marks are formed for each special mark in the target image, and the adjusting device calculates the deflection angle of the camera according to the positions of the special marks and the positions of the target marks, so that the camera can be adjusted. According to the embodiment of the application, the deflection angle of the camera is obtained through calculation by the adjusting device, and compared with personal experience, the calculated deflection angle is more accurate, so that the installation accuracy of the camera can be improved.

Referring now to fig. 2, fig. 2 is a schematic diagram illustrating an embodiment of an installation adjustment method according to an embodiment of the present application. In this embodiment, a multi-view co-centered camera is taken as an example, and the specific type of the camera is not limited in the embodiment of the present application. As shown in fig. 2, this embodiment includes steps 201 to 204.

201. The adjusting means generate a chart.

The adjustment means generate a reference image, which may also be referred to as a test chart (chart), or as a chart. Specifically, the chart includes special marks, the number, the shape and the positions of the special marks can be set according to actual needs, for example, the shapes of the special marks can be black squares, cross frames or circles, and the like, which are convenient for an image recognition algorithm to calculate coordinates. Although the number and positions of the special marks are not particularly limited, the number of the special marks is at least two, and two special marks are required on the same side of the chart to calculate the deflection angle of the sub-camera in the circumferential Z direction. Fig. 3 is an example of a chart, and as shown in fig. 3, the chart includes 5 special marks, and the special marks are black squares.

The adjustment device may generate a different chart for each of the sub-cameras in the multi-view common-center camera, or may generate one chart, and the plurality of sub-cameras share the chart. That is, the chart corresponding to each sub-camera may be the same or different.

202. And shooting a chart by using a multi-eye co-optical center camera to obtain a target image.

The chart is placed in front of the corresponding sub-camera, and the chart needs to be placed opposite to the incident surface of the reflecting prism, so that the sub-camera can collect the content of the chart through the reflecting prism. The placement of the chart can be understood in conjunction with fig. 4. For ease of calculation, the chart is typically placed vertically directly in front of the corresponding multi-view co-centered camera, i.e., the chart is placed in parallel with the corresponding sub-camera in the vertical direction. Of course, the chart may be placed at other angles, but when the chart is placed at other angles, the deflection angle of the sub-camera needs to be calculated by combining the angles of the chart, so that the calculation is complex. The distance L of the chart from the ion camera can be freely set, but it is generally necessary to ensure that the sub-camera can take a complete chart image.

The sub-camera shoots the chart to obtain a target image, and corresponding target marks are formed in the target image aiming at each special mark. When there is no deviation in the mounting position of the sub-camera, the coordinates of the target mark are the same as those of the special mark. When there is a deviation in the mounting position of the sub-camera, the position of the target mark is shifted with respect to the special mark, that is, the coordinates of the target mark are different from those of the special mark.

203. The adjusting device acquires a target image from the multi-view co-centric camera.

After the sub-cameras of the multi-eye co-optical center camera shoot to obtain the target image, the adjusting device collects the target image from the multi-eye co-optical center camera.

204. The adjusting device calculates the deflection angle of the sub-camera.

The adjusting device calculates deflection angles of the sub-camera in the X direction, the Y mode and the surrounding Z direction according to the coordinates of the special mark and the coordinates of the target mark corresponding to the special mark. In this embodiment, a description will be given by taking an example in which a chart is placed in parallel with a corresponding sub-camera, and the distance from the chart to the ion camera is L.

Specifically, when the sub-camera is angularly deflected in the X direction, the target mark is shifted to the left or right with respect to the special mark. Referring to fig. 5, a schematic diagram of the sub-camera when the angular deflection in the X direction occurs. In fig. 5, a large black square on the left side indicates a sub-camera in the case where there is no angular offset, and a large white square indicates a sub-camera after the installation deviation. The small black squares in the right image are special marks and the small white squares are target marks. The adjusting device can calculate the offset distance deltax according to the position of the special mark and the position of the corresponding target mark, and then the deflection angle alpha of the sub-camera in the X direction can be obtained according to the formula tanalpha=deltax/L.

When the sub-camera is angularly deflected in the Y direction, the target mark is shifted up or down relative to the special mark. Referring to fig. 6, a schematic diagram of the sub-camera when the Y-direction angular deflection occurs. In fig. 6, a large black square on the left side indicates a sub-camera in the case where there is no angular offset, and a large white square indicates a sub-camera after the installation deviation. The small black squares in the right image are special marks and the small white squares are target marks. The adjusting device can calculate the offset distance deltay according to the position of the special mark and the position of the corresponding target mark, and then the deflection angle beta of the sub-camera in the Y direction can be obtained according to the formula tanbeta=deltay/L.

When the sub-camera is angularly deflected about the Z-direction, the target mark rotates relative to the special mark. Referring to fig. 7, a schematic diagram of the sub-camera when angular deflection around the Z direction occurs. In fig. 7, a large black square on the left side indicates a sub-camera in the case where there is no angular offset, and a large white square indicates a sub-camera after the installation deviation. The small black squares in the right image are special marks and the small white squares are target marks. The adjusting device finds two target marks A and B on the same side through an image recognition algorithm, wherein the coordinates of the target mark A are (Xa, ya) and the coordinates of the target mark B are (Xb, yb), and the deflection angle gamma of the sub-camera around the Z direction can be calculated according to a formula tan gamma= (Yb-Ya)/(Xb-Xa).

After the adjustment device calculates the deflection angle of the sub-camera, the adjustment device or an operator can adjust the installation angle of the sub-camera.

In some embodiments, the adjustment apparatus may include a computing device, which may be a personal computer, tablet, cell phone, etc., and an adjustment member, which may be a robotic arm. The computing device may be embedded in the adjustment member or may be placed separately from the adjustment member. The computing device may be connected to the regulating member via a connection line, or may be connected to the regulating member via a wireless local area network (Wireless Local Area Network, WLAN). As shown in fig. 8, one possible configuration of a computing device and an adjustment member. When the computing equipment calculates the deflection angle of the sub-camera, the adjusting piece is controlled to rotate the adjusting screw of the sub-camera, the deflection angle is calculated after the adjustment piece rotates, and the installation accuracy of the sub-camera is considered to meet the requirement when the deflection angle is smaller than a preset value. For example, when the sub-camera deflects by alpha in the X direction, the computing device controls the adjusting piece to adjust the adjusting screw corresponding to the X direction, and after adjustment, the deflection angle of the sub-camera in the X direction is continuously calculated until the deflection angle is smaller than 0.01 degree, and the adjustment is considered to be completed, so that the installation precision of the sub-camera in the X direction meets the requirement. When the mounting precision of all the sub-cameras of the multi-eye co-centering camera meets the requirement, the mounting precision of the multi-eye co-centering camera is considered to meet the requirement.

In other embodiments, the adjustment device may adjust the mounting position of the sub-camera by rotating the adjustment screw by an operator after calculating the deflection angle of the sub-camera.

Further, the number of turns required to rotate the adjusting screw corresponding to the deflection angle can be set, for example, when the sub-camera is offset by alpha in the X direction, the adjusting screw corresponding to the X direction is required to rotate 3 turns clockwise, so that the operation flow is further standardized.

In this embodiment, the deflection angle of the sub-camera is calculated by the adjusting device according to the coordinates of the special mark and the target mark, and compared with personal experience, the calculated deflection angle is more accurate, so that the installation accuracy of the camera can be improved, and the installation accuracy of the camera is also more stable. In addition, the calculation result is more accurate, so that the installation and adjustment of the camera can be completed more quickly, and the efficiency is improved.

The installation adjustment method in the embodiment of the present application is described above, and the adjustment device in the embodiment of the present application is described below, referring to fig. 9, one embodiment of the adjustment device in the embodiment of the present application includes:

a generating unit 901 for generating a reference image.

And the acquisition unit 902 is used for acquiring a target image from the camera, wherein the target image is obtained by shooting a reference image by the camera.

A calculation unit 903 for calculating a deflection angle of the camera from the reference image and the target image.

Optionally, the adjusting device further comprises an adjusting unit 904 for adjusting the mounting position of the camera according to the deflection angle.

Optionally, the camera includes a reflective prism, the reference image being positioned opposite the reflective prism.

Optionally, the camera is a multi-view co-centric camera.

In this embodiment, each unit in the adjusting device performs the operation of the adjusting device in the embodiment shown in fig. 2, which is not described herein.

Referring now to fig. 10, a schematic diagram of one possible configuration of an adjusting device according to an embodiment of the present application includes a processor 1001, a communication interface 1002, a memory 1003, and a bus 1004. The processor 1001, the communication interface 1002, and the memory 1003 are connected to each other by a bus 1004. In an embodiment of the present application, the processor 1001 is used for controlling and managing the actions of the adjusting device, for example, the processor 1001 is used for executing the steps in the method embodiment of fig. 2. The communication interface 1002 is used to support the regulation device for communication. A memory 1003 for storing program codes and data of the adjusting means.

The processor 1001 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. A processor may also be a combination that performs a computational function, such as a combination comprising one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so forth. Bus 1004 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 10, but not only one bus or one type of bus.

Embodiments of the present application also provide a computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of the embodiment shown in fig. 2 described above.

Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the embodiment shown in fig. 2 described above.

The embodiment of the application further provides a chip system, which comprises at least one processor and a communication interface, wherein the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used for running a computer program or instructions to execute the method in the embodiment shown in fig. 2.

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 on 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 units, if implemented in the form of software functional units and sold or used as stand-alone products, 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 described in 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 other various media capable of storing program codes.

Claims

1. A method of adjusting the mounting of a camera, comprising:

the adjusting device generates a reference image;

the adjusting device acquires a target image from a camera, wherein the target image is obtained by shooting the reference image by the camera;

the adjusting device calculates the deflection angle of the camera according to the reference image and the target image.

2. The method according to claim 1, wherein the method further comprises:

the adjusting device adjusts the mounting position of the camera according to the deflection angle.

3. A method according to claim 1 or 2, wherein the camera comprises a reflecting prism, the reference image being placed opposite the reflecting prism.

4. A method according to any one of claims 1 to 3, wherein the camera is a multi-view co-centric camera.

5. An adjustment device, comprising:

a generation unit configured to generate a reference image;

the acquisition unit is used for acquiring a target image from a camera, wherein the target image is obtained by shooting the reference image by the camera;

and the calculating unit is used for calculating the deflection angle of the camera according to the reference image and the target image.

6. The apparatus of claim 5, wherein the adjustment means further comprises:

and the adjusting unit is used for adjusting the mounting position of the camera according to the deflection angle.

7. The apparatus of claim 5 or 6, wherein the camera is a multi-view co-centric camera.

8. An adjustment device, comprising: a processor and a memory;

the memory is used for storing instructions;

the processor is configured to execute instructions stored in the memory to implement the method of any one of claims 1 to 4.

9. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by one or more processors, implements the method of any of claims 1 to 4.

10. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any of claims 1 to 4.