CN109697737A - Camera calibration method, device, electronic equipment and computer readable storage medium - Google Patents
Camera calibration method, device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN109697737A CN109697737A CN201811452677.3A CN201811452677A CN109697737A CN 109697737 A CN109697737 A CN 109697737A CN 201811452677 A CN201811452677 A CN 201811452677A CN 109697737 A CN109697737 A CN 109697737A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
This application involves a kind of camera calibration method, device, electronic equipment and computer readable storage mediums.The above method includes: the different f-numbers for successively obtaining main camera in camera module, scaling board is shot with different f-numbers by camera module, obtain the corresponding one group of uncalibrated image of each f-number, wherein, one group of uncalibrated image includes the uncalibrated image that main camera and at least two auxiliary cameras are shot respectively in camera module, calibration processing is carried out to camera module according to each f-number corresponding one group of uncalibrated image, obtains camera module corresponding camera calibration parameter under each f-number.Due to that can be shot by the camera module of different f-numbers to scaling board, calibration processing is carried out according to the obtained corresponding uncalibrated image of each f-number, camera module corresponding calibrating parameters under different f-numbers are obtained, camera calibration accuracy can be improved.
Description
Technical field
This application involves image technology fields, more particularly to a kind of camera calibration method, device, electronic equipment and meter
Calculation machine readable storage medium storing program for executing.
Background technique
Camera needs the calibrating parameters for being demarcated to obtain camera to camera before factory, thus camera
Image can be handled according to calibrating parameters, such that treated image restores the object in three-dimensional space.However,
In the use process of camera, different shooting conditions can impact the imaging effect of image, and there are camera calibrations
The low problem of accuracy.
Summary of the invention
The embodiment of the present application provides a kind of camera calibration method, device, electronic equipment, computer readable storage medium,
The accuracy of camera calibration can be improved.
A kind of camera calibration method, comprising:
The different f-numbers for successively obtaining main camera in camera module, by the camera module with different
F-number shoots scaling board, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of calibration
Image includes main camera described in the camera module and the uncalibrated image that at least two auxiliary cameras are shot respectively；
Calibration processing is carried out to the camera module according to each f-number corresponding one group of uncalibrated image, obtains institute
State camera module corresponding camera calibration parameter under each f-number.
A kind of camera calibration device, comprising:
Image taking module, for successively obtaining the different f-numbers of main camera in camera module, by described
Camera module shoots scaling board with different f-numbers, obtains one group of calibration maps corresponding with each f-number
Picture, wherein one group of uncalibrated image includes main camera and at least two auxiliary cameras described in the camera module
The uncalibrated image shot respectively；
Demarcate processing module, for according to the corresponding one group of uncalibrated image of each f-number to the camera module into
Rower is handled surely, obtains the camera module corresponding camera calibration parameter under each f-number.
A kind of electronic equipment, including camera module, memory and processor store computer journey in the memory
Sequence, when the computer program is executed by the processor, so that the processor executes following steps:
The different f-numbers for successively obtaining main camera in camera module, by the camera module with different
F-number shoots scaling board, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of calibration
Image includes main camera described in the camera module and the uncalibrated image that at least two auxiliary cameras are shot respectively；
Calibration processing is carried out to the camera module according to each f-number corresponding one group of uncalibrated image, obtains institute
State camera module corresponding camera calibration parameter under each f-number.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row:
The different f-numbers for successively obtaining main camera in camera module, by the camera module with different
F-number shoots scaling board, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of calibration
Image includes main camera described in the camera module and the uncalibrated image that at least two auxiliary cameras are shot respectively；
Calibration processing is carried out to the camera module according to each f-number corresponding one group of uncalibrated image, obtains institute
State camera module corresponding camera calibration parameter under each f-number.
Above-mentioned camera calibration method, device, electronic equipment and computer readable storage medium, by successively obtaining camera shooting
The different f-numbers of main camera, clap scaling board with different f-numbers by the camera module in head mould group
It takes the photograph, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of uncalibrated image includes the camera mould
The uncalibrated image that main camera and at least two auxiliary cameras are shot respectively in group, corresponding one group according to each f-number
Uncalibrated image carries out calibration processing to camera module, obtains camera module corresponding camera shooting leader under each f-number
Determine parameter.Due to that can be shot with different f-numbers to scaling board by camera module, according to each obtained light
The corresponding uncalibrated image of circle value carries out calibration processing, obtains camera module corresponding calibrating parameters under different f-numbers, can
To improve camera calibration accuracy.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the applied environment figure of camera calibration method in one embodiment；
Fig. 2 is the flow chart of camera calibration method in one embodiment；
Fig. 3 is the schematic diagram of camera calibration method in one embodiment；
Fig. 4 is the flow chart shot in one embodiment by camera module；
Fig. 5 is the flow chart of camera calibration method in one embodiment；
Fig. 6 is the flow chart for being corrected processing in one embodiment to the image of acquisition；
Fig. 7 is the flow chart of camera calibration method in another embodiment；
Fig. 8 is the structural block diagram of camera calibration device in one embodiment；
Fig. 9 is the internal structure block diagram of electronic equipment in one embodiment；
Figure 10 is the schematic diagram of image processing circuit in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
It is appreciated that term " first " used in this application, " second " etc. can be used to describe various elements herein,
But these elements should not be limited by these terms.These terms are only used to distinguish the first element from the other element.Citing comes
It says, in the case where not departing from scope of the present application, the first camera can be known as second camera, and similarly, can incite somebody to action
Second camera is known as the first camera.First camera and second camera both camera, but it is not same takes the photograph
As head.
Fig. 1 is the application environment schematic diagram of camera calibration method in one embodiment.As shown in Figure 1, the application environment
Including electronic equipment 110 and scaling board 120.Chart pattern is had on scaling board (chart plate) 120.Electronic equipment 110 can be with
The different f-numbers for successively obtaining main camera in camera module, by camera module with different f-numbers to calibration
Plate 120 is shot, and the corresponding one group of uncalibrated image of each f-number of camera module is obtained, according to each f-number
Corresponding one group of uncalibrated image carries out calibration processing to camera module, and it is corresponding under each f-number to obtain camera module
Camera calibration parameter.Wherein, main camera and at least two auxiliary in camera module are contained in one group of uncalibrated image
The uncalibrated image that camera is shot respectively.Main camera can be the colour imagery shot of adjustable diaphragm value, and auxiliary camera can
With but be not limited in colour imagery shot, black and white camera, focal length camera, wide-angle camera or depth camera a kind of or more
Kind.Scaling board 120 can be three-dimensional scaling plate, be also possible to two-dimensional calibrations plate.
Fig. 2 is the flow chart of camera calibration method in one embodiment.Camera calibration method in the present embodiment, with
It is described for running on the electronic equipment in Fig. 1.As shown in Fig. 2, camera calibration method includes step 202 to step
204。
Step 202, the different f-numbers for successively obtaining main camera in camera module, by camera module with not
Same f-number shoots scaling board, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of calibration
Image includes the uncalibrated image that main camera and at least two auxiliary cameras are shot respectively in camera module.
Camera module refers to the component comprising at least one camera.Camera module is built-in or is placed outside electronics and sets
It is standby, so that electronic equipment can acquire image by camera module.In the embodiment of the present application, camera module can wrap
Containing at least three cameras, specifically, camera module includes main camera and at least two auxiliary cameras.Wherein, master takes the photograph
As the colour imagery shot of head adjustable diaphragm value, auxiliary camera can be, but not limited to be colour imagery shot, black and white camera, length
It is one or more in burnt camera, wide-angle camera or depth camera.For example, may include two colours in camera module
It also may include colour imagery shot, black and white camera, depth camera in camera and a depth camera, camera module
Etc. without being limited thereto.F-number is the focal length of camera and the relative value of light passing diameter.The aperture of camera is for controlling light
The device of the light quantity of photosurface in into camera can express the size of aperture by f-number.F-number is bigger, then leads to
Light diameter, that is, aperture is smaller, unit time light-inletting quantity is smaller；Opposite, f-number is smaller, then light passing diameter, that is, aperture it is bigger,
The light-inletting quantity of unit time is bigger.
Main camera is that have multiple f-numbers, so as to adjust the camera that aperture size is shot.Scaling board
Refer to the figure with constant spacing pattern matrix.Specifically, scaling board can be the three-dimensional mark at least three calibration faces
Fixed board is also possible to the plate only with a calibration face.When electronic equipment carries out calibration processing to camera, need at least
Three or more calibration pictures, therefore, when scaling board is three-dimensional scaling plate, electronic equipment is by camera module with different
F-number shoots scaling board, may include camera mould in the corresponding one group of uncalibrated image of each obtained f-number
Main camera and at least two assists the uncalibrated image shot respectively in group, and three different marks are contained in the uncalibrated image
Determine figure；When scaling board is the plate only with a calibration face, electronic equipment can be by camera module at each
Under f-number, the scaling board of at least three angles is shot, to obtain the corresponding one group of calibration maps of each f-number
It may include at least three uncalibrated images that three cameras in camera module are shot respectively as in.
Electronic equipment can successively obtain the different f-numbers of main camera in camera module, pass through camera module
Scaling board is shot with different f-numbers, obtains the corresponding one group of calibration maps of each f-number of camera module
Picture.Specifically, electronic equipment can obtain the main camera shooting after adjusting after the f-number each time to main camera is adjusted
The f-number of head, wherein what user was adjusted can be to the adjusting of main camera f-number, be also possible to electronic equipment certainly
Dynamic adjusting.
Step 204, calibration processing is carried out to camera module according to the corresponding one group of uncalibrated image of each f-number, obtained
To camera module under each f-number corresponding camera calibration parameter.
Calibration processing refers to the operation that the parameter in geometrical model to camera imaging is solved, by camera at
The geometrical model of picture can make the object in the image restoring three-dimensional space of shooting.Specifically, calibration processing may include monocular
Calibration processing and binocular calibration processing, internal reference, outer ginseng and distortion factor etc. of the monocular calibration processing for seeking single camera,
Binocular calibration processing is for seeking the outer ginseng between two cameras.Camera calibration parameter, which refers to, marks camera module
The camera parameter obtained after fixed processing.Camera calibration parameter can be used for being corrected the image that camera acquires, from
And the image after correction is allow to restore the object in three-dimensional space.Specifically, camera calibration parameter may include camera
Bi-objective in mould group in the monocular calibrating parameters of single camera and camera module between main camera and auxiliary camera
Determine parameter, wherein monocular calibrating parameters may include internal reference, outer ginseng, distortion factor etc., and binocular calibration parameter is two cameras
Between outer ginseng.
Electronic equipment carries out calibration processing to camera module according to the corresponding one group of uncalibrated image of each f-number, tool
Body, electronic equipment can using traditional camera standardization, camera self-calibrating method, between traditional scaling method and from marking
Determine Zhang Zhengyou scaling method between method etc. and calibration processing is carried out to camera module, obtains the corresponding calibration of camera module
Parameter.For example, when electronic equipment collects the corresponding one group of uncalibrated image of the first f-number by adjusting main camera f-number
Separately include what the uncalibrated image A of main camera acquisition, the uncalibrated image B that auxiliary camera 1 acquires and auxiliary camera 2 acquired
When uncalibrated image C, electronic equipment carries out calibration processing according to uncalibrated image A, uncalibrated image B, uncalibrated image C, then what is obtained takes the photograph
As head calibrating parameters contain main camera shooting and auxiliary camera 1,2 corresponding internal references, outer ginseng and distortion factor etc., Yi Jizhu
Outer ginseng, main camera between camera and auxiliary camera 1 and the outer ginseng between auxiliary camera 2.
In the embodiment of the present application, by successively obtaining the different f-numbers of main camera in camera module, by taking the photograph
As head mould group shoots scaling board with different f-numbers, one group of uncalibrated image corresponding with each f-number is obtained,
Wherein, one group of uncalibrated image includes the calibration maps that main camera and at least two auxiliary cameras are shot respectively in camera module
Picture carries out calibration processing to camera module according to the corresponding one group of uncalibrated image of each f-number, obtains camera module
Corresponding camera calibration parameter, avoids the camera with multiple f-numbers from only doing at primary calibration under each f-number
Reason, improves the accuracy of camera calibration.It in turn, can be according to used light in the use process of camera module
Circle value obtains corresponding camera calibration parameter and handles image, and the accuracy of image procossing can be improved.
In one embodiment, pass through camera module in the camera calibration method provided with different f-numbers to mark
The process that fixed board is shot, comprising: under each f-number of camera module, to the scaling boards of at least three angles
It is shot.
When scaling board is the plate only with a calibration face, scaling board can rotate multiple angles by rotary shaft.
In at least three angles of scaling board, one of angle can be 0 degree, other rotation angles are ± θ degree.θ value can protect
It is determined according to actual needs on the basis of being decoupled between card posture.For example, electronic equipment is under any f-number to 0 degree, -20
Degree ,+20 degree, -30 degree ,+30 scaling boards for spending five angles are shot, and the corresponding one group of uncalibrated image of the f-number is obtained.
As shown in figure 3, being the signal that camera module shoots the angle of at least three angles in one embodiment
Figure.As the optical axis of each camera is demarcated perpendicular to 120 rotary shaft of scaling board in camera module in electronic equipment 110 in Fig. 3
Plate 120 can rotate multiple angles by rotary shaft, and one of angle can be 0 degree, other two rotation angle is ± θ
Degree, electronic equipment 110 can shoot postrotational scaling board 120.
Under each f-number of camera module, at least three angles of scaling board are shot electronic equipment, can
The corresponding one group of uncalibrated image of each f-number to obtain camera module includes camera module in one group of uncalibrated image
At least three uncalibrated images that middle main camera and auxiliary camera are shot respectively.
As shown in figure 4, in one embodiment, by camera module with different in the camera calibration method provided
The process that f-number shoots scaling board may include step 402 to step 406, in which:
Step 402, the minimum aperture value and lens speed of main camera are obtained.
The f-number of main camera usually has corresponding adjusting range.Minimum aperture value refers to main camera light passing diameter
F-number when maximum；Lens speed refers to f-number when main camera light passing diameter minimum.Electronic equipment is available
The minimum aperture value and lens speed of main camera.
Step 404, target f-number is determined according to minimum aperture value and lens speed.
Target f-number refers to the corresponding f-number of uncalibrated image for carrying out calibration processing to camera.Electronic equipment
Target f-number is determined according to minimum aperture value and lens speed, and specifically, electronic equipment can be from minimum aperture value, often
A f-number is obtained as target f-number every default aperture difference；Electronic equipment can also from minimum aperture value, every
Preset quantity f-number then obtains a f-number as target f-number；Electronic equipment can also be straight according to default f-number
It obtains and f-number identical with default f-number in minimum aperture value and lens speed is taken to be not limited to as target f-number etc.
This, wherein default aperture difference, preset quantity, default f-number can be set according to practical application request, herein not
It limits.For example, when the minimum aperture value of main camera is 3, lens speed is 9, electronics is set when default aperture difference is 3
It is standby can from minimum aperture value 3, every default aperture difference be 3 one f-number of acquisition as target f-number, then target
F-number is 3,6,9.
Step 406, by camera module to be shot under different target f-numbers to scaling board.
It, can be according to target f-number after electronic equipment determines target f-number according to minimum aperture value and lens speed
The f-number of main camera is adjusted, scaling board is shot with different target f-numbers by camera module,
Obtain the corresponding one group of uncalibrated image of each target aperture of camera module.
It is true according to minimum aperture value and lens speed by obtaining the minimum aperture value and lens speed of main camera
Set the goal f-number, by camera module to shoot under different target f-numbers to scaling board, so as to obtain
The corresponding one group of uncalibrated image of each target f-number of camera module, carries out calibration processing to camera module, avoids
The shooting of uncalibrated image is carried out in each f-number of main camera, uncalibrated image acquisition and calibration processing can be improved
Efficiency.
In one embodiment, target f-number includes first object f-number and the second target f-number, passes through camera shooting
Head mould group may include: according at least three angles to mark with the process shot under different target f-numbers to scaling board
Fixed board is adjusted, after the angle of scaling board is adjusted every time, by camera module with first object f-number and
Second target f-number shoots scaling board.
Electronic equipment is adjusted scaling board according at least three angles, and the angle of scaling board is being adjusted every time
Afterwards, scaling board is shot with first object f-number and the second target f-number respectively by camera module.At one
In embodiment, scaling board can be adjusted according to first angle, second angle, third angle, then electronic equipment is by taking the photograph
As head mould group may include: to adjust scaling board to first jiao with the process that different target f-numbers shoots scaling board
Degree, the first object f-number of main camera shooting is obtained after adjusting, by camera module with first object f-number to scaling board into
Row shooting, obtains the second target f-number of main camera, by camera module with the second target f-number to mark after shooting
Fixed board is shot；Scaling board is adjusted to second angle, the first object f-number of main camera shooting is obtained after adjusting, passes through camera shooting
Head mould group shoots scaling board with first object f-number, and the second target f-number of main camera is obtained after shooting, leads to
Camera module is crossed to shoot scaling board with the second target f-number；Scaling board is adjusted to third angle, is obtained after adjusting
The first object f-number for taking main camera shooting shoots scaling board with first object f-number by camera module, shooting
The the second target f-number for obtaining main camera afterwards claps scaling board with the second target f-number by camera module
It takes the photograph；To obtain first object f-number and the corresponding one group of uncalibrated image of the second target f-number.Electronic equipment according to
Scaling board is adjusted at least three angles, after scaling board is adjusted every time, by camera module with the first mesh
Mark f-number and the second target f-number shoot scaling board, it is possible to reduce the adjusting number of scaling board improves camera
The efficiency of calibration.
As shown in figure 5, in one embodiment, the auxiliary that camera module includes in the camera calibration method provided is taken the photograph
As head includes the first auxiliary camera and the second auxiliary camera, according to the corresponding one group of calibration of each f-number in this method
Image carries out calibration processing to camera module, obtains camera module corresponding camera calibration ginseng under each f-number
Several processes may include step 502 to step 508.Wherein:
Step 502, according to the corresponding one group of uncalibrated image of each f-number, each camera in camera module is obtained
Corresponding uncalibrated image.
Electronic equipment shoots scaling board with different f-numbers by camera module, each obtained aperture
It is worth corresponding one group of uncalibrated image, then all contains each camera in camera module in each group of uncalibrated image and shoot respectively
Obtained uncalibrated image, the corresponding uncalibrated image of each camera in the available camera module of electronic equipment.
Step 504, monocular calibration processing is carried out to each camera according to the corresponding uncalibrated image of each camera,
Obtain the corresponding monocular calibrating parameters of each f-number.
Monocular calibration processing, which refers to, demarcates single camera, seeks internal reference, the outer ginseng, distortion factor of the camera
Deng operation.Electronic equipment can carry out monocular calibration to each camera according to the corresponding uncalibrated image of each camera
Processing, obtains each camera corresponding monocular calibrating parameters under each f-number.Monocular calibrating parameters include camera
Corresponding internal reference, outer ginseng, distortion factor etc. under the f-number.For example, in the above example, when electronic equipment passes through camera
Mould group contains uncalibrated image A, the first second camera of main camera acquisition with one group of uncalibrated image that the first f-number acquires
When the uncalibrated image C that the uncalibrated image B of head acquisition and the second auxiliary camera acquire, electronic equipment is according to uncalibrated image A, calibration
Image B, uncalibrated image C carry out monocular calibration processing to main camera, the first auxiliary camera, the second auxiliary camera respectively,
Obtain the corresponding monocular calibrating parameters of each camera under the first f-number.
Step 506, according to camera main under each f-number and the corresponding monocular calibrating parameters of the first auxiliary camera
Binocular calibration processing is carried out to main camera and the first auxiliary camera, obtains corresponding first binocular calibration of each f-number
Parameter.
Binocular calibration processing, which refers to, demarcates at least two cameras, seeks the outer ginseng between at least two cameras
Operation.First binocular calibration parameter is used to indicate the parameter of the relative distance between main camera and the first auxiliary camera.
Specifically, the first binocular calibration parameter can be the outer ginseng value between main camera and the first auxiliary camera.First Bi-objective
Determining parameter includes the spin matrix and translation matrix between main camera and the first auxiliary camera.Electronic equipment can be according to every
Main camera and the corresponding monocular calibrating parameters of the first auxiliary camera calculate the first binocular calibration ginseng under one f-number
Number.In one embodiment, electronic equipment can also be according to camera main under each f-number and the first auxiliary camera point
Not corresponding uncalibrated image carries out binocular calibration processing to main camera and the first auxiliary camera.
Step 508, according to camera main under each f-number and the corresponding monocular calibrating parameters of the second auxiliary camera
Binocular calibration processing is carried out to main camera and the second auxiliary camera, obtains corresponding second binocular calibration of each f-number
Parameter.
Similarly, the second binocular calibration parameter is used to indicate the relative distance between main camera and the second auxiliary camera
Parameter.Specifically, the second binocular calibration parameter can be the outer ginseng value between main camera and the second auxiliary camera.Second
Binocular calibration parameter includes the spin matrix and translation matrix between main camera and the second auxiliary camera.Electronic equipment can be with
The second Bi-objective is calculated according to camera main under each f-number and the corresponding monocular calibrating parameters of the second auxiliary camera
Determine parameter.
To the corresponding each monocular calibrating parameters of each available f-number of electronic equipment and the first binocular calibration
Parameter, the second binocular calibration parameter, tool can be improved, and there are three the accuracys that the camera module of camera is demarcated.In turn, exist
In the use process of camera module, the acquisition f-number that electronic equipment can be used according to main camera obtains corresponding each
One or more calibrating parameters in monocular calibrating parameters, the first binocular calibration parameter or the second binocular calibration parameter, to image into
Row processing, can be improved the accuracy of image procossing.
As shown in fig. 6, in one embodiment, the camera calibration method provided can also be including step 602 to step
606.Wherein:
Step 602, when acquiring initial pictures by camera module, the acquisition f-number of main camera is obtained.
Initial pictures refer to camera module acquisition, are not corrected the image of processing by calibrating parameters.Camera
Mould group generallys use main camera and at least one auxiliary camera is shot, then initial pictures when carrying out Image Acquisition
It can be the image of one or more cameras acquisition in camera module.Master takes the photograph when acquisition f-number is acquisition initial pictures
As corresponding f-number.Electronic equipment obtains the acquisition light of main camera when acquiring initial pictures by camera module
Circle value；When initial pictures are the image of main camera acquisition, electronic equipment can also directly acquire that initial pictures are corresponding to be adopted
Collect f-number.
In one embodiment, electronic equipment can also be obtained and be initiated when acquiring initial pictures by camera module
The destination application for acquiring the acquisition instructions of initial pictures, when judging that destination application belongs to first kind application program,
Obtain the acquisition f-number of main camera.
Application program refers to the computer program that can complete particular job.Specifically, application program has calling camera shooting
Head acquires the function of image.For example, Instagram can be adopted by camera collection image, wechat by camera
Collecting image or scanning the two-dimensional code image, the application of payment class or screen locking application can be identified by camera acquisition facial image
Etc. without being limited thereto.Acquisition instructions can be user by click display screen on button generate, be also possible to user by by
What the control on pressure touch screen generated etc., electronic equipment obtains when acquiring initial pictures by camera module and initiates to acquire
The destination application of the acquisition instructions of initial pictures.Electronic equipment can classify to application program, and specifically, electronics is set
It is standby to be classified according to the requirement etc. of requirement, image processing speed to imaging accuracy to application program.The first kind is answered
It can be or image processing speed more demanding to imaging accuracy with program and require lower application program.Electronic equipment can be with
When getting the corresponding destination application of acquisition instructions, judge whether the destination application belongs to first kind application journey
Sequence obtains the acquisition f-number of main camera when the destination application belongs to first kind application program.
Step 604, acquisition light is obtained in corresponding camera calibration parameter under each f-number from camera module
The corresponding first object calibrating parameters of circle value.
Electronic equipment carries out calibration processing to camera module according to the corresponding one group of uncalibrated image of each f-number, obtains
To camera module under each f-number corresponding camera calibration parameter, then electronic equipment can according to acquisition f-number from
The corresponding camera calibration parameter of each f-number obtains corresponding first object calibrating parameters.In one embodiment, when not having
When having camera calibration parameter corresponding with acquisition f-number, electronic equipment is available and acquires the immediate aperture of f-number
It is worth corresponding camera calibration parameter as first object calibrating parameters.
Step 606, processing is corrected to initial pictures according to first object calibrating parameters, the target figure exported
Picture.
Electronic equipment is corrected processing to initial pictures according to first object calibrating parameters, and specifically, electronic equipment can
According to double between the corresponding monocular calibrating parameters of camera each in first object calibrating parameters and each camera
Mesh calibrating parameters are corrected processing to initial pictures, the target image obtained after being handled.For example, when electronic equipment passes through
When main camera and the first auxiliary camera in camera module collect initial pictures M1 and initial pictures N1 respectively, electronics
Equipment obtains corresponding first object calibrating parameters according to the corresponding acquisition f-number of initial pictures M, is demarcated according to first object
The corresponding monocular calibrating parameters of main camera are corrected initial pictures M1 to obtain image M2 and according to the first auxiliary in parameter
The corresponding monocular calibrating parameters of camera are corrected initial pictures N1 to obtain image N2, and then according to main camera and first
After the first binocular calibration parameter between auxiliary camera is corrected processing to image M2 and image N2, target image is obtained.
Acquisition f-number when acquiring initial pictures by obtaining camera module obtains corresponding according to acquisition f-number
First object calibrating parameters are corrected processing to initial pictures and obtain target image, and the accuracy of target image can be improved,
When avoiding handling initial pictures using unified calibrating parameters, the clarity etc. of image is impacted, figure is optimized
The treatment effect of picture.
In one embodiment, the camera calibration method provided can also include: to work as to judge that destination application belongs to
When the second class application program, preset second target designation parameter is obtained, and according to the second target designation parameter to initial pictures
It is corrected processing, the target image exported.
Camera usually has a default f-number in practical application, and when just opening camera, camera is by being somebody's turn to do
F-number is defaulted to acquire image.Preset second target designation parameter is that camera calibration corresponding with default f-number is joined
Number.Electronic equipment can will be classified as the second class application program according to default f-number to acquire the application program of image.Electronics is set
It is standby the application program lower or more demanding to image processing speed to image procossing accuracy requirement to be classified as second
Class application program.When judging that destination application belongs to first kind application program, it is corresponding that electronic equipment obtains acquisition f-number
First object calibrating parameters, processing is corrected to initial pictures according to first object calibrating parameters；When judging target application
When program belongs to the second class application program, electronic equipment is corrected initial pictures according to preset second target designation parameter
Processing, the target image exported.
Electronic equipment judges the classification of destination application according to the destination application for initiating acquisition instructions, to obtain
Corresponding calibrating parameters are corrected processing to initial pictures, when destination application belongs to the second class application program, directly
Initial pictures are handled using preset second target designation parameter, image processing efficiency can be improved.
In one embodiment, the auxiliary camera in camera calibration method provided includes depth camera, then electric
Sub- equipment carries out calibration processing to camera module according to the corresponding one group of uncalibrated image of each f-number, obtained camera
Mould group in corresponding camera calibration parameter, contains the mark between main camera and depth camera under each f-number
Determine the calibrating parameters between parameter and main camera and other auxiliary cameras.In the use process of camera module, electronics
The image of depth image and the acquisition of main camera that equipment can acquire depth camera carries out calibration processing, obtains main camera shooting
First depth information of the image of head acquisition；Electronic equipment can also be according to the figure of main camera and the acquisition of other auxiliary cameras
As carrying out calibration processing, and the second depth information of image is obtained according to binocular ranging, so that electronic equipment can be according to reality
Demand is handled the image of acquisition according to the first depth information or the second depth information, for example, when image there are textures not
Clearly when scene, electronic equipment can very be handled image according to the first depth information；When subject in image
Depth information it is larger when, electronic equipment can be handled image according to the second depth information.
Include depth camera in the camera module of electronic equipment, then camera shooting obtained by calibrating is carried out to camera module
Head calibrating parameters contain the calibration information and main camera and other second camera figures of depth camera and main camera
Calibration information, so that two can be respectively obtained after electronic equipment is corrected processing to initial pictures according to camera shooting calibrating parameters
Group depth information, selected depth information handles image to electronic equipment according to the actual situation, and image procossing can be improved
Accuracy.
It is illustrated in figure 7 the flow chart of camera calibration method in one embodiment.Three angles of scaling board are carried out
It is illustrated for shooting, which includes:
Step 702, the screening-mode of camera module is set as auto-focusing and fixed time for exposure.
Step 704, in the first angle of scaling board, the different f-numbers of main camera are successively obtained and by camera mould
Group is shot.
Step 706, in the second angle of scaling board, the different f-numbers of main camera are successively obtained and by camera mould
Group is shot.
Step 708, in the third angle of scaling board, the different f-numbers of main camera are successively obtained and by camera mould
Group is shot.
Step 710, one group of uncalibrated image for obtaining the shooting of each f-number carries out calibration processing.
Step 712, the corresponding calibrating parameters of each f-number are saved.
By the different angle in scaling board, camera module shoots scaling board with different f-numbers, obtains every
The corresponding one group of uncalibrated image of camera module under one f-number, thus according to the corresponding one group of calibration maps of each f-number
As carrying out calibration processing to camera module, the corresponding camera calibration parameter of each f-number is obtained, camera shooting can be improved
The fixed accuracy of leader, and reduce the adjusting number of scaling board, improve the efficiency of camera calibration.
It should be understood that although each step in the flow chart of Fig. 2,4-7 is successively shown according to the instruction of arrow,
It is these steps is not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
There is no stringent sequences to limit for rapid execution, these steps can execute in other order.Moreover, in Fig. 2,4-7 extremely
Few a part of step may include that perhaps these sub-steps of multiple stages or stage are not necessarily same to multiple sub-steps
Moment executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage is also not necessarily
It successively carries out, but in turn or can be handed over at least part of the sub-step or stage of other steps or other steps
Alternately execute.
Fig. 8 is the structural block diagram of the camera calibration device of one embodiment.As shown in figure 8, the camera calibration device
Including image taking module 802, calibration processing module 804.Wherein:
Image taking module 802, for successively obtaining the different f-numbers of main camera in camera module, by taking the photograph
As head mould group shoots scaling board with different f-numbers, the corresponding one group of uncalibrated image of each f-number is obtained,
In, one group of uncalibrated image includes the calibration maps that main camera and at least two auxiliary cameras are shot respectively in camera module
Picture；
Demarcate processing module 804, for according to the corresponding one group of uncalibrated image of each f-number to camera module into
Rower is handled surely, obtains camera module corresponding camera calibration parameter under each f-number.
In one embodiment, image taking module 802 can be also used under each f-number of camera module,
The scaling board of at least three angles is shot.
In one embodiment, image taking module 802 can be also used for obtaining the minimum aperture value and most of main camera
Large aperture value；Target f-number is determined according to minimum aperture value and lens speed；By camera module with different targets
F-number shoots scaling board.
In one embodiment, image taking module 802 can be also used for carrying out scaling board according at least three angles
It adjusts；After the angle of scaling board is adjusted every time, by camera module with first object f-number and the second target
F-number shoots scaling board.
In one embodiment, calibration processing module 804 can be also used for according to the corresponding one group of mark of each f-number
Determine image, obtains the corresponding uncalibrated image of each camera in camera module；It is corresponding according to each camera
Uncalibrated image carries out monocular calibration processing to each camera, obtains the corresponding monocular calibrating parameters of each f-number；According to
Main camera and the corresponding monocular calibrating parameters of the first auxiliary camera assist main camera and first under each f-number
Camera carries out binocular calibration processing, obtains the corresponding first binocular calibration parameter of each f-number；According to each aperture
Main camera and the corresponding monocular calibrating parameters of the second auxiliary camera carry out main camera and the second auxiliary camera under value
Binocular calibration processing, obtains the corresponding second binocular calibration parameter of each f-number.
In one embodiment, the camera calibration device provided can also include image processing module 806, image procossing
Module 806 is used to obtain the acquisition f-number of main camera when acquiring initial pictures by camera module；From camera mould
Group obtains the corresponding first object calibrating parameters of acquisition f-number under each f-number in corresponding camera calibration parameter；
Processing is corrected to initial pictures according to first object calibrating parameters, the target image exported.
In one embodiment, image processing module 806, which can be also used for working as, judges that destination application belongs to the first kind
When application program, the acquisition f-number of main camera is obtained；From camera module under each f-number corresponding camera shooting leader
Determine to obtain the corresponding first object calibrating parameters of acquisition f-number in parameter；According to first object calibrating parameters to initial pictures into
Row correction process, the target image exported.
In one embodiment, image processing module 806, which can be also used for working as, judges that destination application belongs to the second class
When application program, preset second target designation parameter is obtained, and school is carried out to initial pictures according to the second target designation parameter
Positive processing, the target image exported.
Camera calibration device provided by the embodiments of the present application, for successively obtaining in camera module main camera not
Same f-number, shoots scaling board with different f-numbers by camera module, and it is corresponding to obtain each f-number
One group of uncalibrated image, wherein shot respectively in one group of uncalibrated image comprising main camera and at least two auxiliary cameras
Uncalibrated image carries out calibration processing to camera module according to the corresponding one group of uncalibrated image of each f-number, is imaged
Head mould group corresponding camera calibration parameter under each f-number, avoids the camera with multiple f-numbers from only doing once
Calibration processing, improves the accuracy of camera calibration.
The division of modules is only used for for example, in other embodiments, can incite somebody to action in above-mentioned camera calibration device
Camera calibration device is divided into different modules as required, to complete all or part of function of above-mentioned camera calibration device
Energy.
Fig. 9 is the schematic diagram of internal structure of electronic equipment in one embodiment.As shown in figure 9, the electronic equipment includes logical
Cross the processor and memory of system bus connection.It further include camera module in the electronic equipment.Wherein, which is used for
Calculating and control ability are provided, the operation of entire electronic equipment is supported.Memory may include non-volatile memory medium and memory
Reservoir.Non-volatile memory medium is stored with operating system and computer program.The computer program can performed by processor,
For realizing a kind of camera calibration method provided by following each embodiment.Built-in storage is non-volatile memory medium
In operating system computer program provide cache running environment.The electronic equipment can be mobile phone, tablet computer or
Person's personal digital assistant or wearable device etc..
Realizing for the modules in camera calibration device provided in the embodiment of the present application can be computer program
Form.The computer program can be run in terminal or server.The program module that the computer program is constituted is storable in end
On the memory of end or server.When the computer program is executed by processor, method described in the embodiment of the present application is realized
The step of.
The embodiment of the present application also provides a kind of electronic equipment.It include image processing circuit in above-mentioned electronic equipment, at image
Reason circuit can use hardware and or software component realization, it may include define ISP (Image Signal Processing, figure
As signal processing) the various processing units of pipeline.Figure 10 is the schematic diagram of image processing circuit in one embodiment.Such as Figure 10 institute
Show, for purposes of illustration only, only showing the various aspects of image processing techniques relevant to the embodiment of the present application.
As shown in Figure 10, image processing circuit includes ISP processor 1040 and control logic device 1050.Imaging device 1010
The image data of capture is handled by ISP processor 1040 first, and ISP processor 1040 analyzes image data can with capture
Image statistics for determining and/or imaging device 1010 one or more control parameters.Imaging device 1010 can wrap
Include the camera with one or more lens 1012 and imaging sensor 1014.Imaging sensor 1014 may include colour filter
Array (such as Bayer filter), imaging sensor 1014 can obtain the light captured with each imaging pixel of imaging sensor 1014
Intensity and wavelength information, and the one group of raw image data that can be handled by ISP processor 1040 is provided.1020 (such as top of sensor
Spiral shell instrument) parameter (such as stabilization parameter) of the image procossing of acquisition can be supplied to ISP processing based on 1020 interface type of sensor
Device 1040.1020 interface of sensor can use SMIA, and (Standard Mobile Imaging Architecture, standard are moved
Dynamic Imager Architecture) interface, other serial or parallel camera interfaces or above-mentioned interface combination.
In addition, raw image data can also be sent to sensor 1020 by imaging sensor 1014, sensor 1020 can base
Raw image data is supplied to ISP processor 1040 or sensor 1020 for original graph in 1020 interface type of sensor
As data storage is into video memory 1030.
ISP processor 1040 handles raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processor 1040 can carry out raw image data at one or more images
Reason operation, statistical information of the collection about image data.Wherein, image processing operations can be by identical or different bit depth precision
It carries out.
ISP processor 1040 can also receive image data from video memory 1030.For example, 1020 interface of sensor will be former
Beginning image data is sent to video memory 1030, and the raw image data in video memory 1030 is available to ISP processing
Device 1040 is for processing.Video memory 1030 can be only in a part, storage equipment or electronic equipment of memory device
Vertical private memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
1014 interface of imaging sensor is come from or from 1020 interface of sensor or from video memory when receiving
When 1030 raw image data, ISP processor 1040 can carry out one or more image processing operations, such as time-domain filtering.Place
Image data after reason can be transmitted to video memory 1030, to carry out other processing before shown.ISP processor
1040 from video memory 1030 receive processing data, and to the processing data progress original domain in and RGB and YCbCr face
Image real time transfer in the colour space.Treated that image data may be output to display 1070 for ISP processor 1040, for
Family is watched and/or is further processed by graphics engine or GPU (Graphics Processing Unit, graphics processor).This
Outside, the output of ISP processor 1040 also can be transmitted to video memory 1030, and display 1070 can be from video memory 1030
Read image data.In one embodiment, video memory 1030 can be configured to realize one or more frame buffers.This
Outside, the output of ISP processor 1040 can be transmitted to encoder/decoder 1060, so as to encoding/decoding image data.Coding
Image data can be saved, and decompress before being shown in 1070 equipment of display.Encoder/decoder 1060 can be by
CPU or GPU or coprocessor are realized.
The statistical data that ISP processor 1040 determines, which can be transmitted, gives control logic device Unit 1050.For example, statistical data can
It is passed including the images such as automatic exposure, automatic white balance, automatic focusing, flicker detection, black level compensation, 1012 shadow correction of lens
1014 statistical information of sensor.Control logic device 1050 may include execute one or more routines (such as firmware) processor and/or
Microcontroller, one or more routines can statistical data based on the received, determine at control parameter and the ISP of imaging device 1010
Manage the control parameter of device 1040.For example, the control parameter of imaging device 1010 may include that 1020 control parameter of sensor (such as increases
Benefit, the time of integration of spectrum assignment, stabilization parameter etc.), camera flash control parameter, 1012 control parameter of lens it is (such as poly-
Burnt or zoom focal length) or these parameters combination.ISP control parameter may include for automatic white balance and color adjustment (example
Such as, RGB processing during) 1012 shadow correction parameter of gain level and color correction matrix and lens.
In the embodiment of the present application, image processing circuit may include at least three imaging devices (camera) 1010, fortune
Above-mentioned camera calibration method can be realized with image processing techniques in Figure 10.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when the computer executable instructions are executed by one or more processors
When, so that the step of processor executes camera calibration method.
A kind of computer program product comprising instruction, when run on a computer, so that computer executes camera shooting
Head scaling method.
It may include non-to any reference of memory, storage, database or other media used in the embodiment of the present application
Volatibility and/or volatile memory.Suitable nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM), it is used as external cache.By way of illustration and not limitation, RAM in a variety of forms may be used
, such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM),
Enhanced SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of camera calibration method characterized by comprising
The different f-numbers for successively obtaining main camera in camera module, by the camera module with different apertures
Value shoots scaling board, obtains one group of uncalibrated image corresponding with each f-number, wherein one group of uncalibrated image
The uncalibrated image shot respectively comprising main camera described in the camera module and at least two auxiliary cameras；
Calibration processing is carried out to the camera module according to each f-number corresponding one group of uncalibrated image, obtains described take the photograph
As head mould group corresponding camera calibration parameter under each f-number.
2. the method according to claim 1, wherein it is described by the camera module with different f-numbers
Scaling board is shot, comprising:
Under each f-number of the camera module, the scaling board of at least three angles is shot.
3. the method according to claim 1, wherein it is described by the camera module with different f-numbers
Scaling board is shot, comprising:
Obtain the minimum aperture value and lens speed of the main camera；
Target f-number is determined according to the minimum aperture value and lens speed；
The scaling board is shot with different target f-numbers by the camera module.
4. according to the method described in claim 3, it is characterized in that, the target f-number includes first object f-number and
Two target f-numbers；
It is described that the scaling board is shot with different target f-numbers by the camera module, comprising:
The scaling board is adjusted according at least three angles；
After the angle every time to the scaling board is adjusted, by the camera module with the first object f-number
The scaling board is shot with the second target f-number.
5. the method according to claim 1, wherein the auxiliary camera includes the first auxiliary camera and the
Two auxiliary cameras；
It is described that calibration processing is carried out to the camera module according to the corresponding one group of uncalibrated image of each f-number, obtain institute
State camera module corresponding camera calibration parameter under each f-number, comprising:
According to the corresponding one group of uncalibrated image of each f-number, obtains each camera in the camera module and respectively correspond
Uncalibrated image；
Monocular calibration processing is carried out to each camera according to each camera corresponding uncalibrated image, is obtained each
The corresponding monocular calibrating parameters of a f-number；
According to main camera described under each f-number and the corresponding monocular calibrating parameters of the first auxiliary camera to the master
Camera and the first auxiliary camera carry out binocular calibration processing, obtain the corresponding first binocular calibration ginseng of each f-number
Number；
According to main camera described under each f-number and the corresponding monocular calibrating parameters of the second auxiliary camera to the master
Camera and the second auxiliary camera carry out binocular calibration processing, obtain the corresponding second binocular calibration ginseng of each f-number
Number.
6. the method according to any one of claims 1 to 5, which is characterized in that the method also includes:
When acquiring initial pictures by the camera module, the acquisition f-number of the main camera is obtained；
The acquisition f-number is obtained in corresponding camera calibration parameter under each f-number from the camera module
Corresponding first object calibrating parameters；
Processing is corrected to the initial pictures according to the first object calibrating parameters, the target image exported.
7. according to the method described in claim 6, it is characterized in that, described acquiring initial pictures by the camera module
When, obtain the acquisition f-number of the main camera, comprising:
When acquiring initial pictures by the camera module, the mesh for initiating to acquire the acquisition instructions of the initial pictures is obtained
Mark application program；
When judging that the destination application belongs to first kind application program, the acquisition aperture of the main camera is obtained
Value；
The method also includes:
When judging that the destination application belongs to the second class application program, preset second target designation parameter is obtained, and
Processing is corrected to the initial pictures according to the second target designation parameter, the target image exported.
8. a kind of camera calibration device characterized by comprising
Image taking module passes through the camera shooting for successively obtaining the different f-numbers of main camera in camera module
Head mould group shoots scaling board with different f-numbers, obtains one group of uncalibrated image corresponding with each f-number,
In, one group of uncalibrated image includes that main camera described in the camera module and at least two auxiliary cameras are clapped respectively
The uncalibrated image taken the photograph；
Processing module is demarcated, for marking according to the corresponding one group of uncalibrated image of each f-number to the camera module
Fixed processing, obtains the camera module corresponding camera calibration parameter under each f-number.
9. a kind of electronic equipment, including camera module, memory and processor, computer journey is stored in the memory
Sequence, when the computer program is executed by the processor, so that the processor executes such as any one of claims 1 to 7
The step of described camera calibration method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method as described in any one of claims 1 to 7 is realized when being executed by processor.
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