CN110490939B - Multi-camera calibration method and device, storage medium and electronic equipment - Google Patents
Multi-camera calibration method and device, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN110490939B CN110490939B CN201910731731.6A CN201910731731A CN110490939B CN 110490939 B CN110490939 B CN 110490939B CN 201910731731 A CN201910731731 A CN 201910731731A CN 110490939 B CN110490939 B CN 110490939B
- Authority
- CN
- China
- Prior art keywords
- cameras
- image
- calibration
- angle
- shooting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
The application provides a multi-camera calibration method, a multi-camera calibration device, a storage medium and electronic equipment, wherein the method comprises the steps of acquiring a first image obtained by shooting a calibration object by part of cameras; and calibrating part of the cameras by adopting the first image, acquiring second images obtained by shooting the calibrated object by other cameras, calibrating other cameras by adopting the second images, and forming a plurality of cameras by adopting the part of the cameras and other cameras together. When can effectively shorten the demarcation of many cameras through this application, promote and mark efficiency.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a method and an apparatus for calibrating multiple cameras, a storage medium, and an electronic device.
Background
The mobile terminal brings convenience to daily photographing of people, and meanwhile, the requirement of people on the quality of photographed images is higher and higher, so that the parameters of the camera are determined in the manufacturing process of the mobile terminal to calibrate the camera, and subsequent better imaging is assisted.
In the related art, because the current mobile terminal only has two image signal processors, when a plurality of cameras, for example, 4 cameras, are arranged on the mobile terminal, if an external parameter matrix between the camera 1 and other 3 cameras needs to be calibrated, a commonly adopted calibration method is as follows: demarcate camera 1 and camera 2 earlier, demarcate camera 1 and camera 3 again, then, demarcate camera 1 and camera 4 again.
In this way, when the mobile terminal has a plurality of cameras, it takes a long time to perform calibration, and the calibration efficiency is low.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present application is to provide a multi-camera calibration method, device, storage medium, and electronic device, which can effectively shorten calibration time of multiple cameras and improve calibration efficiency.
In order to achieve the above object, an embodiment of the present application provides a multi-camera calibration method applied in an electronic device, where the electronic device includes a plurality of cameras, and the method includes: acquiring a first image obtained by shooting a calibration object by a part of cameras; and calibrating the partial cameras by adopting the first image, acquiring second images obtained by shooting the calibrated objects by other cameras, and calibrating the other cameras by adopting the second images, wherein the partial cameras and the other cameras jointly form the plurality of cameras.
According to the multi-camera calibration method provided by the embodiment of the first aspect of the application, the first image obtained by shooting the calibration object is obtained by the part of the cameras, the part of the cameras are calibrated by the first image, meanwhile, the second image obtained by shooting the calibration object by the other cameras is obtained, the other cameras are calibrated by the second image, the part of the cameras and the other cameras jointly form the plurality of cameras, and the calibration efficiency is improved when the calibration of the plurality of cameras is effectively shortened.
In order to achieve the above object, an embodiment of the present application provides a multi-camera calibration apparatus, which is applied to an electronic device, where the electronic device includes a plurality of cameras, and includes: the acquisition module is used for acquiring a first image obtained by shooting a calibration object by part of cameras; and the calibration module is used for calibrating the partial cameras by adopting the first image, acquiring second images obtained by shooting the calibration object by other cameras, and calibrating the other cameras by adopting the second images, wherein the partial cameras and the other cameras jointly form the plurality of cameras.
The utility model provides a many cameras calibration device that embodiment of second aspect provided, through obtaining the first image that some cameras were shot and are obtained to the object of maring to adopt first image to mark some cameras, and simultaneously, obtain other cameras and shoot the second image that obtains to the object of maring, adopt the second image to mark other cameras, some cameras and other cameras constitute a plurality of cameras jointly, when can effectively shorten the demarcation of many cameras, promote and mark efficiency.
To achieve the above object, a computer-readable storage medium is provided in an embodiment of the present application, where instructions in the storage medium, when executed by a processor of a first electronic device, enable the first electronic device to execute a multi-camera calibration method, the method including: the embodiment of the first aspect of the application provides a multi-camera calibration method.
The computer-readable storage medium provided by the embodiment of the third aspect of the application, the first image obtained by shooting the calibration object by the partial cameras is obtained, the partial cameras are calibrated by the first image, meanwhile, the second image obtained by shooting the calibration object by the other cameras is obtained, the other cameras are calibrated by the second image, the partial cameras and the other cameras jointly form a plurality of cameras, and the calibration efficiency is improved when the calibration of the plurality of cameras is effectively shortened.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, which includes a housing, a processor, a memory, a circuit board, and a power circuit, wherein the circuit board is disposed inside a space enclosed by the housing, and the processor and the memory are disposed on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the electronic equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing: acquiring a first image obtained by shooting a calibration object by a part of cameras; and calibrating the partial cameras by adopting the first image, acquiring second images obtained by shooting the calibrated objects by other cameras, and calibrating the other cameras by adopting the second images, wherein the partial cameras and the other cameras jointly form the plurality of cameras.
The embodiment of the fourth aspect of the application provides an electronic device, through obtaining the first image that some cameras were shot and were obtained to demarcating the object, and adopt first image to demarcate some cameras, and simultaneously, obtain the second image that other cameras were shot and were obtained to demarcating the object, adopt the second image to demarcate other cameras, some cameras and other cameras constitute a plurality of cameras jointly, when can effectively shorten the demarcation of many cameras, promote and mark efficiency
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a multi-camera calibration method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a calibration object according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of an application in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a multi-camera calibration apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a multi-camera calibration apparatus according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In order to solve the technical problems that in the related art, when a mobile terminal is provided with a plurality of cameras, calibration needs to be performed in a long time, and the calibration efficiency is low, the embodiment of the application provides a multi-camera calibration method, by acquiring a first image obtained by shooting a calibration object by a part of cameras and calibrating the part of cameras by adopting the first image, meanwhile, a second image obtained by shooting the calibration object by other cameras is obtained, the other cameras are calibrated by adopting the second image, a plurality of cameras are formed by part of the cameras and the other cameras together, and a multithreading mode is utilized, so that the calibration process and the image acquisition process are simultaneously executed in parallel, the foreground is kept for shooting part of the cameras, and the camera and other background cameras perform image processing simultaneously, so that the time for calibrating the multiple cameras is effectively shortened, and the calibration efficiency is improved.
Fig. 1 is a schematic flow chart of a multi-camera calibration method according to an embodiment of the present application.
Referring to fig. 1, the method includes:
s101: and acquiring a first image obtained by shooting the calibration object by part of cameras.
The calibration object is a three-dimensional solid object, or may also be a calibration chart of a two-dimensional plane, which is not limited to this.
Referring to fig. 2, fig. 2 is a schematic diagram of a calibration object in an embodiment of the present application, the calibration object is a two-dimensional planar calibration chart, points with significant features on the calibration object may be referred to as target feature points, the target feature points are used for subsequent camera calibration, the number of the target feature points may be one or more, in order to ensure calibration accuracy, a plurality of target feature points are generally preset, and a plurality of target feature points may be preset on the calibration object 21 in fig. 2, so as to facilitate subsequent feature point detection, therefore, intersections (which may be referred to as corner points) of black and white squares on the calibration object 21 may be used as the target feature points.
In a specific implementation process, some of the multiple cameras may be controlled to capture an image (which may be referred to as a first image) of the calibration object, and some of the multiple cameras may be two cameras of the multiple cameras, which is not limited herein.
Optionally, in some embodiments, a plurality of angles may be preset, so that when the control part of the cameras takes the first image obtained by shooting the calibration object, the control part of the cameras takes the first image obtained by shooting the calibration object at different angles, and the detection of the feature points of the plurality of images taken at different angles is realized, so as to calibrate the cameras, so that the calibration is more accurate, the redundant verification during the calibration is facilitated by adopting each group of images, and the calibration effect is improved.
Optionally, before acquiring the first image captured by the partial camera with respect to the calibration object, a plurality of angles are determined, and then the calibration object may be rotated to a first angle, and the first image captured by the partial camera with respect to the calibration object rotated to the first angle is acquired, where the first angle belongs to a plurality of angles, and the first angle is one of the plurality of angles, that is, the calibration object shown in fig. 2 is rotated to the first angle, and the partial camera is controlled to capture the first image captured by the calibration object rotated to the first angle.
S102: and calibrating part of the cameras by adopting the first image, acquiring second images obtained by shooting the calibrated object by other cameras, calibrating other cameras by adopting the second images, and forming a plurality of cameras by adopting the part of the cameras and other cameras together.
After the control part of the cameras shoots first images of the calibration objects which rotate to the first angle, the first images are directly transmitted to the background image signal processor, so that the image signal processor calibrates part of the cameras by adopting the first images.
When the first image is used to calibrate the partial cameras, feature point detection may be performed on the first image to determine an internal parameter matrix of each partial camera and an external parameter matrix between the partial cameras to perform calibration, which is not limited herein.
In the specific execution process, when the first image is adopted to calibrate part of the cameras, the second images obtained by shooting the calibration object by other cameras are obtained, the second images are adopted to calibrate other cameras, and the part of the cameras and other cameras jointly form a plurality of cameras.
For example, while the partial cameras are calibrated by using the first image, the images (which may be referred to as second images) obtained by shooting the calibration object by the other cameras are controlled, which may be specifically to obtain, via the image signal processor, the second images obtained by shooting the calibration object by the other cameras so as to calibrate the other cameras.
Therefore, the limitation of the number of image signal processors in the related art can be overcome, the multithreading mode is effectively utilized, and the calibration process and the image acquisition process are executed simultaneously and parallelly to improve the calibration efficiency.
In the specific implementation process of the embodiment of the application, the initial stage is to obtain a first image obtained by shooting the calibration object which rotates to the first angle by the partial cameras to calibrate.
Therefore, in order to achieve calibration consistency, when a second image obtained by shooting a calibration object by other cameras is obtained, the second image obtained by shooting the calibration object rotated to a first angle by other cameras is obtained, calibration of a part of the cameras by adopting the first image under the first angle is achieved, calibration of other cameras by adopting the second image under the first angle is achieved, a complete calibration process is achieved, external matrix parameters between the part of the cameras and other cameras are determined subsequently based on the same angle, and the calibration process is more reasonable and applicable.
When the second image is used for calibrating the other cameras, the feature point detection may be performed on the second image to determine the internal parameter matrix of each other camera and the external parameter matrix between the other cameras for calibration, which is not limited herein.
The above process describes a process of capturing a first image of a part of the cameras and a second image of another camera for calibration when the calibration object is rotated to a first angle.
In order to achieve the sustainability of the method, the calibration object at different angles is adaptively shot, the multiple images shot at different angles are adaptively subjected to feature point detection for calibration, the second image is adopted for calibrating other cameras, the calibration object is rotated to a second angle in real time, a third image obtained by shooting the calibration object rotated to the second angle by part of the cameras is obtained, the second angle is different from the first angle, and the second angle belongs to multiple angles.
Then, after acquiring a third image obtained by shooting the calibration object rotated to the second angle by a part of cameras, calibrating the part of cameras by adopting the third image, and simultaneously acquiring a fourth image obtained by shooting the calibration object rotated to the second angle by other cameras; and calibrating other cameras by adopting the fourth image, and updating the second angle while calibrating other cameras by adopting the fourth image, wherein the updated angle belongs to a plurality of angles.
In the specific implementation process, in order to effectively avoid setting the photographing parameters before photographing at every time, when an image obtained by photographing a calibration object by any camera is obtained, the cameras except any camera are kept in a power-on state, the mode that the cameras are not powered off is adopted, and the mode of multi-thread parallel processing calibration is combined, so that the joint calibration of multiple cameras is efficiently and adaptively completed.
In this embodiment, a first image obtained by shooting a calibration object is obtained by obtaining a part of cameras, and the part of cameras are calibrated by adopting the first image, meanwhile, a second image obtained by shooting the calibration object by other cameras is obtained, the other cameras are calibrated by adopting the second image, the part of cameras and the other cameras jointly form a plurality of cameras, and a multithreading mode is utilized, so that the calibration process and the process of obtaining the images are executed simultaneously and parallelly, a foreground is kept to shoot the part of cameras, and the image processing is simultaneously performed with the other cameras in the background, thereby effectively shortening the time for calibrating the plurality of cameras, and improving the calibration efficiency.
As an example, referring to fig. 3, fig. 3 is a schematic flow chart of an application in an embodiment of the present application, where two parallel steps are steps executed synchronously. The concrete description is as follows:
first, the cameras 1 and 2 are started, and the photographing parameters such as AF, AE, etc. of the two cameras are set.
Then, picking up images of a two-dimensional calibration chart (as shown in the above fig. 2), after picking up images, the cameras 1 and 2 keep the current power-on state and keep the initially set parameters such as AE and AF, meanwhile, 2 images just acquired are sent to a background image signal processor for image processing and feature point detection, meanwhile, the foreground starts the cameras 3 and 4 and picks up images of the two-dimensional calibration chart after setting the photographing parameters, after picking up images, the cameras 3 and 4 keep the current power-on state and keep the parameters such as AE and AF fixed, and simultaneously, 2 images just acquired are sent to the background image signal processor for image processing and feature point detection.
Meanwhile, the two-dimensional calibration chart is rotated to a second angle, then the two-dimensional calibration chart is switched to the cameras 1 and 2 to acquire the two-dimensional calibration chart according to the fixed photographing parameters, after the image acquisition is finished, the cameras 1 and 2 keep the current power-on state and keep the parameters of AE, AF and the like fixed, meanwhile, 2 images obtained just before are sent to the background to be subjected to image processing and feature point detection, meanwhile, the foreground starts the cameras 3 and 4 and acquires the two-dimensional calibration chart according to the fixed photographing parameters, after the image acquisition is finished, the cameras 3 and 4 keep the current power-on state and fix the parameters of AE, AF and the like, and simultaneously 2 images obtained just before are sent to the background to be subjected to image processing and feature point detection.
Meanwhile, the two-dimensional calibration chart is rotated to a third angle, then the two-dimensional calibration chart is switched to the cameras 1 and 2 to shoot the two-dimensional calibration chart according to the fixed shooting parameters, after the picture is shot, the cameras 1 and 2 are closed, simultaneously, 2 images which are just collected are sent to a background to be subjected to image processing and feature point detection, meanwhile, the cameras 3 and 4 are started by a foreground, the two-dimensional calibration chart is shot according to the fixed shooting parameters, after the picture is shot, the cameras 3 and 4 are closed, and the 2 images which are just collected are sent to the background to be subjected to image processing and feature point detection.
At the moment, all the cameras finish image acquisition and feature point detection of 3 angles of the two-dimensional calibration chart, and the internal rectangular parameters of all the cameras and the external rectangular parameters among all the cameras can be obtained by using the Zhang calibration method so as to realize efficient calibration.
Fig. 4 is a schematic structural diagram of a multi-camera calibration apparatus according to an embodiment of the present application.
The device is applied to electronic equipment, and the electronic equipment comprises a plurality of cameras.
Referring to fig. 4, the apparatus 400 includes:
an obtaining module 401, configured to obtain a first image obtained by shooting a calibration object by a part of cameras;
the calibration module 402 is configured to calibrate a part of the cameras by using the first image, acquire second images obtained by shooting a calibration object by using other cameras, calibrate the other cameras by using the second images, and form a plurality of cameras by using the part of the cameras and the other cameras.
Optionally, in some embodiments, referring to fig. 5, the apparatus 400 further comprises:
a determining module 403 for determining a plurality of angles;
the obtaining module 401 is specifically configured to:
rotating the calibration object to a first angle, and acquiring a first image obtained by shooting the calibration object rotated to the first angle by part of cameras, wherein the first angle belongs to a plurality of angles;
the calibration module 402 is specifically configured to:
and acquiring a second image which is obtained by shooting the calibration object rotated to the first angle by other cameras.
Optionally, in some embodiments, the calibration module 402 is further configured to:
and rotating the calibration object to a second angle, and acquiring a third image obtained by shooting the calibration object rotated to the second angle by part of the cameras, wherein the second angle is different from the first angle, and the second angle belongs to a plurality of angles.
Optionally, in some embodiments, the calibration module 402 is further configured to:
and calibrating a part of the cameras by adopting the third image, acquiring a fourth image which is obtained by shooting the calibration object rotated to the second angle by other cameras, and calibrating other cameras by adopting the fourth image.
Optionally, in some embodiments, the method further comprises:
an updating module 404, configured to update the second angle while calibrating the other cameras by using a fourth image, where the updated angle belongs to a plurality of angles.
Optionally, in some embodiments, the obtaining module 401 is further configured to:
when an image shot by any camera to a calibrated object is obtained, the cameras except the any camera are kept in a power-on state.
It should be noted that the explanation of the embodiment of the multi-camera calibration method in the foregoing fig. 1-3 is also applicable to the multi-camera calibration apparatus 400 in this embodiment, and the implementation principle is similar, and is not repeated here.
In this embodiment, through obtaining the first image that some cameras were shot and were obtained to the calibration object to adopt first image to mark some cameras, simultaneously, obtain other cameras and shoot the second image that obtains to the calibration object, adopt the second image to mark other cameras, some cameras and other cameras constitute a plurality of cameras jointly, can effectively shorten the time spent of the demarcation of many cameras, promote and mark efficiency.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 6, the electronic device 60 of the present embodiment includes: the device comprises a shell 601, a processor 602, a memory 603, a circuit board 604 and a power supply circuit 605, wherein the circuit board 604 is arranged in a space surrounded by the shell 601, and the processor 602 and the memory 603 are arranged on the circuit board 604; a power supply circuit 605 for supplying power to each circuit or device of the electronic apparatus 60; the memory 603 is used for storing executable program code; wherein the processor 602 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 603, for performing:
acquiring a first image obtained by shooting a calibration object by a part of cameras;
and calibrating part of the cameras by adopting the first image, acquiring second images obtained by shooting the calibrated object by other cameras, calibrating other cameras by adopting the second images, and forming a plurality of cameras by adopting the part of the cameras and other cameras together.
It should be noted that the explanation of the embodiment of the multi-camera calibration method in the foregoing embodiments of fig. 1 to fig. 3 is also applicable to the electronic device 60 of the embodiment, and the implementation principle is similar, and is not repeated here.
In this embodiment, through obtaining the first image that some cameras were shot and were obtained to the calibration object to adopt first image to mark some cameras, simultaneously, obtain other cameras and shoot the second image that obtains to the calibration object, adopt the second image to mark other cameras, some cameras and other cameras constitute a plurality of cameras jointly, can effectively shorten the time spent of the demarcation of many cameras, promote and mark efficiency.
In order to implement the foregoing embodiments, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the multi-camera calibration method of the foregoing method embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (14)
1. A multi-camera calibration method is applied to electronic equipment, wherein the electronic equipment comprises a plurality of cameras, and the method comprises the following steps:
acquiring a first image obtained by shooting a calibration object by a part of cameras;
calibrating the part of cameras by using the first image;
when the first image is adopted to calibrate the part of the cameras, second images obtained by shooting the calibrated object by other cameras are obtained; and
and calibrating the other cameras by adopting the second image, wherein the partial cameras and the other cameras jointly form the plurality of cameras.
2. The multi-camera calibration method according to claim 1, wherein the acquiring a first image of the calibration object captured by the partial cameras comprises:
determining a plurality of angles;
the acquiring of the first image obtained by shooting the calibration object by the partial cameras includes:
rotating the calibration object to a first angle, and acquiring a first image obtained by shooting the calibration object rotated to the first angle by the partial cameras, wherein the first angle belongs to the plurality of angles;
the acquiring of the second image obtained by shooting the calibration object by the other cameras includes:
and acquiring a second image obtained by shooting the calibration object rotated to the first angle by the other cameras.
3. The multi-camera calibration method according to claim 2, wherein the calibrating the other cameras by using the second image further comprises:
and rotating the calibration object to a second angle, and acquiring a third image which is obtained by shooting the calibration object rotated to the second angle by the part of cameras, wherein the second angle is different from the first angle, and the second angle belongs to the plurality of angles.
4. The multi-camera calibration method according to claim 3, further comprising, after acquiring a third image of the calibration object rotated to the second angle by the partial cameras, the following steps:
calibrating the part of the cameras by adopting the third image, and acquiring a fourth image which is obtained by shooting the calibration object which rotates to the second angle by the other cameras;
and calibrating the other cameras by adopting the fourth image.
5. The multi-camera calibration method of claim 4, further comprising:
and updating the second angle while calibrating the other cameras by using the fourth image, wherein the updated angles belong to the plurality of angles.
6. The multi-camera calibration method of any one of claims 1-5, further comprising:
when an image shot by any camera for the calibration object is obtained, the cameras except the any camera are kept in a power-on state.
7. The utility model provides a many cameras calibration device which characterized in that, is applied to electronic equipment, electronic equipment includes a plurality of cameras, the device includes:
the acquisition module is used for acquiring a first image obtained by shooting a calibration object by part of cameras;
the calibration module is used for calibrating the partial cameras by adopting the first image, acquiring second images obtained by shooting the calibration object by other cameras while calibrating the partial cameras by adopting the first image, and calibrating the other cameras by adopting the second image, wherein the partial cameras and the other cameras jointly form the multiple cameras.
8. The multi-camera calibration apparatus of claim 7, further comprising:
a determination module for determining a plurality of angles;
the acquisition module is specifically configured to:
rotating the calibration object to a first angle, and acquiring a first image obtained by shooting the calibration object rotated to the first angle by the partial cameras, wherein the first angle belongs to the plurality of angles;
the calibration module is specifically configured to:
and acquiring a second image obtained by shooting the calibration object rotated to the first angle by the other cameras.
9. The multi-camera calibration device of claim 8, wherein the calibration module is further configured to:
and rotating the calibration object to a second angle, and acquiring a third image which is obtained by shooting the calibration object rotated to the second angle by the part of cameras, wherein the second angle is different from the first angle, and the second angle belongs to the plurality of angles.
10. The multi-camera calibration apparatus of claim 9, wherein the calibration module is further configured to:
and calibrating the part of the cameras by using the third image, acquiring a fourth image which is obtained by shooting the calibration object rotated to the second angle by using the other cameras, and calibrating the other cameras by using the fourth image.
11. The multi-camera calibration device of claim 10, further comprising:
and the updating module is used for updating the second angle while calibrating the other cameras by adopting the fourth image, wherein the updated angle belongs to the plurality of angles.
12. The multi-camera calibration device of any one of claims 7-11, wherein the acquisition module is further configured to:
when an image shot by any camera for the calibration object is obtained, the cameras except the any camera are kept in a power-on state.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a multi-camera calibration method according to any one of claims 1 to 6.
14. An electronic device comprises a shell, a processor, a memory, a circuit board, a power circuit and a plurality of cameras, wherein the circuit board is arranged inside a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; the power supply circuit is used for supplying power to each circuit or device of the electronic equipment; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing:
acquiring a first image obtained by shooting a calibration object by a part of cameras;
and calibrating the partial cameras by adopting the first image, acquiring second images obtained by shooting the calibrated objects by other cameras, and calibrating the other cameras by adopting the second images, wherein the partial cameras and the other cameras jointly form the plurality of cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731731.6A CN110490939B (en) | 2019-08-08 | 2019-08-08 | Multi-camera calibration method and device, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731731.6A CN110490939B (en) | 2019-08-08 | 2019-08-08 | Multi-camera calibration method and device, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110490939A CN110490939A (en) | 2019-11-22 |
| CN110490939B true CN110490939B (en) | 2022-03-22 |
Family
ID=68550320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910731731.6A Active CN110490939B (en) | 2019-08-08 | 2019-08-08 | Multi-camera calibration method and device, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110490939B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101419177A (en) * | 2007-10-25 | 2009-04-29 | 宝山钢铁股份有限公司 | Method for demarcating multi line scan video cameras |
| CN102119317A (en) * | 2008-08-05 | 2011-07-06 | 罗伯特·博世有限公司 | Multi-camera system and method for the calibration thereof |
| CN103581625A (en) * | 2013-10-28 | 2014-02-12 | 华中科技大学 | Time-share parallel image collecting device and calibration method thereof |
| CN104766291A (en) * | 2014-01-02 | 2015-07-08 | 株式会社理光 | Method and system for calibrating multiple cameras |
| CN105160680A (en) * | 2015-09-08 | 2015-12-16 | 北京航空航天大学 | Design method of camera with no interference depth based on structured light |
| CN106485755A (en) * | 2016-09-26 | 2017-03-08 | 中国科学技术大学 | A kind of multi-camera system scaling method |
-
2019
- 2019-08-08 CN CN201910731731.6A patent/CN110490939B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101419177A (en) * | 2007-10-25 | 2009-04-29 | 宝山钢铁股份有限公司 | Method for demarcating multi line scan video cameras |
| CN102119317A (en) * | 2008-08-05 | 2011-07-06 | 罗伯特·博世有限公司 | Multi-camera system and method for the calibration thereof |
| CN103581625A (en) * | 2013-10-28 | 2014-02-12 | 华中科技大学 | Time-share parallel image collecting device and calibration method thereof |
| CN104766291A (en) * | 2014-01-02 | 2015-07-08 | 株式会社理光 | Method and system for calibrating multiple cameras |
| CN105160680A (en) * | 2015-09-08 | 2015-12-16 | 北京航空航天大学 | Design method of camera with no interference depth based on structured light |
| CN106485755A (en) * | 2016-09-26 | 2017-03-08 | 中国科学技术大学 | A kind of multi-camera system scaling method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110490939A (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102306272B1 (en) | Dual camera-based imaging method, mobile terminal and storage medium | |
| CN112311965B (en) | Virtual shooting method, device, system and storage medium | |
| CN108805938B (en) | Detection method of optical anti-shake module, mobile terminal and storage medium | |
| CN110099220B (en) | Panoramic stitching method and device | |
| US20110227924A1 (en) | 3d modeling apparatus, 3d modeling method, and computer readable medium | |
| CN113301274A (en) | Ship real-time video panoramic stitching method and system | |
| JP6218378B2 (en) | Image processing apparatus and image processing method | |
| CN113129241B (en) | Image processing method and device, computer readable medium and electronic equipment | |
| CN110136205B (en) | Parallax calibration method, device and system of multi-view camera | |
| CN111385461B (en) | Panoramic shooting method and device, camera and mobile terminal | |
| CN109598763A (en) | Camera calibration method, device, electronic equipment and computer readable storage medium | |
| US20210407132A1 (en) | Fisheye camera calibration system, method and electronic device | |
| CN111882655A (en) | Method, apparatus, system, computer device and storage medium for three-dimensional reconstruction | |
| CN112648935A (en) | Image processing method and device and three-dimensional scanning system | |
| CN111383264A (en) | Positioning method, positioning device, terminal and computer storage medium | |
| CN110490939B (en) | Multi-camera calibration method and device, storage medium and electronic equipment | |
| WO2021022989A1 (en) | Calibration parameter obtaining method and apparatus, processor, and electronic device | |
| KR102260044B1 (en) | Method and apparatus for calibrating cameras | |
| US11166005B2 (en) | Three-dimensional information acquisition system using pitching practice, and method for calculating camera parameters | |
| CN116843759A (en) | Calibration verification method and system for binocular camera, computer equipment and medium | |
| CN114125303B (en) | Test image acquisition method, device, equipment and medium | |
| CN116229034A (en) | Apparatus and method for acquiring image | |
| CN114299158A (en) | Multi-camera system calibration method, device and system, electronic equipment and storage medium | |
| US20130083963A1 (en) | Electronic camera | |
| CN114640800B (en) | Camera arrangement method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |