CN113538590B - Calibration method and device of zoom camera, terminal equipment and storage medium - Google Patents
Calibration method and device of zoom camera, terminal equipment and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of image processing, and provides a calibration method and device of a zoom camera, terminal equipment and a storage medium. Firstly, determining a shooting range of a zoom camera to be calibrated in a display area, and displaying a calibration image in the shooting range; then, the calibration image is controlled to move for a plurality of times in the display area, and the zoom camera is controlled to shoot corresponding images before each movement, so that a target image corresponding to the zoom camera under one pose is obtained; then, adjusting the pose of the zoom camera, and continuously repeating the steps until target images corresponding to the zoom camera under a plurality of different poses are obtained; finally, the calibration of the zoom camera is completed according to the target images. The automatic calibration of the zoom camera is realized through the process, and compared with the traditional method for calibrating the zoom camera by regarding the zoom camera as a plurality of fixed-focus cameras, the camera calibration efficiency is improved.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a calibration method and apparatus for a zoom camera, a terminal device, and a storage medium.
Background
In image measurement and machine vision applications, in order to determine the correlation between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image, a geometric model of camera imaging must be established, the parameters of which are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations, and this process of solving the parameters is called camera calibration.
Currently, for calibration of a zoom camera, the zoom camera is generally regarded as a plurality of fixed focus cameras, and then calibration is performed by using calibration objects respectively. However, the operation flow of the method is complex, and the calibration efficiency of the zoom camera is low.
Disclosure of Invention
In view of the above, embodiments of the present application provide a calibration method, apparatus, terminal device, and storage medium for a zoom camera, which can improve the efficiency of calibrating the zoom camera.
A first aspect of an embodiment of the present application provides a calibration method for a zoom camera, including:
Determining a shooting range of the zoom camera in a designated display area;
displaying a calibration image in the shooting range;
Controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera under the current pose;
Adjusting the pose of the zoom camera, and returning to the step of determining the shooting range of the zoom camera in the appointed display area until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
And calibrating the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses.
Firstly, determining a shooting range of a zoom camera to be calibrated in a designated display area, and displaying a calibration image in the shooting range; then, the calibration image is controlled to move for a plurality of times in the display area, and the zoom camera is controlled to shoot corresponding images before each movement, so that a target image corresponding to the zoom camera under one pose is obtained; then, adjusting the pose of the zoom camera, and continuously repeating the steps until target images corresponding to the zoom camera under a plurality of different poses are obtained; finally, the calibration of the zoom camera can be completed according to the target images. In the calibration process of the zoom camera, no matter the display and the movement of the calibration image or the pose adjustment of the zoom camera are required to be manually operated, thereby realizing the automatic calibration of the zoom camera.
In one embodiment of the present application, the calibration image is a checkerboard image, and displaying the calibration image in the shooting range may include:
And generating a corresponding rectangular checkerboard image according to the size of the shooting range, and displaying the generated checkerboard image into the shooting range of the zoom camera in the display area. The number and the side length of the square checkers contained in the checkerboard image can be reasonably set according to the size of the shooting range of the zoom camera.
In one embodiment of the application, to automate camera pose adjustment, the zoom camera may be mounted on a camera mount that is placed on a program turntable. After the terminal equipment such as a computer and the like is connected with the program control turntable, a control instruction can be sent through a designated APP (for example, an application program for realizing automatic calibration of a camera) to control the program control turntable to rotate clockwise or anticlockwise by a set angle.
A second aspect of an embodiment of the present application provides a calibration device for a zoom camera, including:
A shooting range determining module for determining a shooting range of the zoom camera in the designated display area;
The calibration image display module is used for displaying a calibration image in the shooting range;
The calibration image moving module is used for controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera in the current pose;
The camera pose adjusting module is used for adjusting the pose of the zoom camera, and then controlling the shooting range determining module to determine the shooting range of the zoom camera in the appointed display area after the pose is adjusted until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
and the camera calibration module is used for completing calibration of the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses.
A third aspect of the embodiments of the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the calibration method of a zoom camera as provided in the first aspect of the embodiments of the present application when the computer program is executed by the processor.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the calibration method of a zoom camera as provided in the first aspect of the embodiments of the present application.
A fifth aspect of the embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the steps of the calibration method of a zoom camera according to the first aspect of the embodiments of the present application.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of one embodiment of a calibration method for a zoom camera provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of corresponding intra-object corner points when controlling a checkerboard image to move towards an upper boundary of a camera shooting range;
FIG. 3 is a schematic diagram of a corresponding center of a target circle when controlling a solid circle array image to move toward an upper boundary of a camera shooting range;
FIG. 4 is a flowchart of another embodiment of a calibration method for a zoom camera according to an embodiment of the present application;
FIG. 5 is a schematic diagram of aruco images provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of a calibration system for a zoom camera according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of calibrating a zoom camera using the calibration system shown in FIG. 6;
FIG. 8 is a block diagram of one embodiment of a calibration device for a zoom camera provided by an embodiment of the present application;
fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail. Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
In image measurement or machine vision application, calibration of camera parameters is a very critical link, and the accuracy of a calibration result and the stability of an algorithm directly influence the accuracy of a result generated by camera work. Therefore, the camera calibration is performed on the premise of performing subsequent work, and the improvement of the camera calibration precision is the key point of scientific research work.
Currently, for calibration of a zoom camera, the zoom camera is generally regarded as a plurality of fixed focus cameras, and then calibration is performed by using calibration objects respectively. However, this operation is extremely cumbersome and the efficiency of calibrating the zoom camera is low.
In view of the above, the present application provides a calibration method, device, terminal device and storage medium for a zoom camera, which can improve the efficiency of calibrating the zoom camera. It should be understood that the execution subject of the method embodiments of the present application is various types of terminal devices or servers, such as mobile phones, tablet computers, notebook computers, desktop computers, wearable devices, and the like.
Referring to fig. 1, a calibration method of a zoom camera according to an embodiment of the present application is shown, including:
101. determining a shooting range of the zoom camera in a designated display area;
Before calibration of the zoom camera, various hardware devices required by the system, such as the zoom camera to be calibrated, a camera bracket, camera calibration devices (such as various types of terminal devices such as a computer) and a designated display area (such as a large screen display device or a projection screen) are set. The zoom camera is mounted on a camera mount, the pose is adjusted so that the lens of the zoom camera is aimed at a reasonable position (e.g., the midpoint position) of the display area, and then step 101 is started.
The terminal device for calibrating a camera first needs to determine the shooting range (also called a field of view range, generally a rectangular area) of a zoom camera to be calibrated in the display area, specifically, a plurality of pattern marks with known position information can be displayed in the display area, then the zoom camera is controlled to shoot an image of the display area, and the shooting range of the zoom camera can be determined by analyzing the shot image and combining the position information corresponding to each pattern mark in the image. Or the shooting range of the zoom camera can be obtained by manually setting according to experience after the pose of the zoom camera is adjusted. The significance of determining the shooting range of the zoom camera is that: in order to complete calibration of the zoom camera, the zoom camera needs to be controlled to shoot a calibration image to obtain a corresponding target image; if the shooting range is not determined, a calibration image is displayed in any area (an area within a non-shooting range) in the display area, the zoom camera is controlled to shoot, and the target image with the pattern array is not obtained anyway, which results in that the calibration of the zoom camera cannot be completed.
102. Displaying a calibration image in the shooting range;
After the shooting range of the zoom camera is obtained, a calibration image is displayed in the shooting range, wherein the calibration image can be an image with a fixed-interval pattern array or an image comprising irregular patterns and with non-fixed pattern intervals. The calibration image may be, for example, a checkerboard image, an equidistant solid circular array image, a grid image, a halcon x 7 dot image, a cross-ruler image, and the like. Generally, a camera shoots a calibration image, and a geometric model of the camera can be obtained through calculation of a calibration algorithm, so that calibration of the camera is completed. Specifically, the terminal device may generate a calibration image with a corresponding size according to the size of the shooting range, and display the generated calibration image in the shooting range of the zoom camera in the display area. For example, if the calibration image is a checkered image, the number and the side length of the square checkered included in the checkered image may be set reasonably according to the size of the shooting range of the zoom camera. If the calibration image is a solid circle array image, the number and the diameter of the solid circles contained in the checkerboard image can be reasonably set according to the size of the shooting range of the zoom camera, and so on. In order to display the calibration image entirely within the photographing range, the entire size of the calibration image may be set to be smaller than the size of the photographing range.
103. Controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera under the current pose;
Then, the calibration image is controlled to move in the display area for multiple times, specifically, the calibration image can be moved in the shooting range for multiple times, or the edge of the calibration image can be moved out of the shooting range, but in order to ensure that enough pattern array data is acquired to complete the calibration work of the camera, the calibration image needs to be kept to move in the shooting range or moved out of the shooting range as far as possible to be smaller than a set threshold value (when moving, the majority of the area of the calibration image is still in the shooting range, and only a small part of the edge area is out of the shooting range).
Before each movement, the zoom camera is controlled to shoot the image in the shooting range, namely, the whole processing procedure is as follows: before the calibration image is not moved, controlling the zoom camera to shoot an image, controlling the calibration image to move once, controlling the zoom camera to shoot the next image, controlling the calibration image to move next … and the like, and after the last movement of the calibration image is finished, controlling the zoom camera to shoot to obtain the last image. Obviously, if the zoom camera is moved N times in total, n+1 images can be obtained, and the pose of the zoom camera remains unchanged in the process, so that the n+1 images can be used as the target image including the pattern array corresponding to the current pose of the zoom camera. That is, each pose of the zoom camera can obtain a corresponding plurality of target images, and each target image is provided with pattern array data so as to complete the calibration of the zoom camera according to the target images.
In one embodiment of the present application, controlling the calibration image to move multiple times within the display area may include:
And controlling the calibration image to sequentially move towards each boundary of the shooting range, wherein when the calibration image moves towards any boundary of the shooting range, the calibration image is controlled to move towards the boundary for a first length each time until the image in the shooting range shot by the zoom camera meets the preset condition.
Specifically, if the photographing range is a rectangular area having a total of 4 boundaries, i.e., up, down, left, and right, the calibration image may be sequentially controlled to move to the upper boundary, the lower boundary, the left boundary, and the right boundary of the photographing range. When the calibration image moves to any boundary of the shooting range, the calibration image is controlled to move to the boundary for a certain preset length each time until the image in the shooting range shot by the zoom camera meets a certain preset condition. For example, if the calibration image is a checkerboard image, when the checkerboard image is moved toward the upper boundary of the shooting range, the distance of 0.5 times of the edge length of the checkerboard image can be moved upwards each time until the checkerboard image reaches the upper boundary, or until the minimum distance between the checkerboard image and the upper boundary is smaller than a certain set value; if the calibration image is a solid circle array image, when the solid circle array image is moved to the upper boundary of the shooting range, a distance of 0.5 times of the solid circle diameter can be moved upwards each time until the solid circle array image reaches the upper boundary, or until the minimum distance between the solid circle array image and the upper boundary is smaller than a certain set value, and the like. When the movement of the calibration image to the upper boundary of the photographing range is completed, the calibration image may be restored to the initial position (i.e., the position before the movement), and then the movement of the calibration image to the other direction (e.g., the lower boundary) of the photographing range is controlled, and so on. Through the arrangement, the movement control mode of the calibration image is simple, the implementation is convenient, and the target image can be conveniently obtained.
Further, the calibration image is a checkerboard image, and each time the calibration image is controlled to move a distance of a first length to the boundary until the image within the shooting range shot by the zoom camera meets a preset condition, the method may include:
Each time the checkerboard image is controlled to move to the boundary for a distance of a first length until the average value of the distances between each target inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera and the boundary is smaller than a second length, or until any inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera is out of the shooting range; the target inner corner points are all inner corner points which are contained in the checkerboard and are closest to the boundary and are located in the same checkerboard row or the same checkerboard column. The second length is required to be greater than the first length because: the first length is a stepping length for controlling the movement of the moving checkerboard image every time, if the second length is set to be too small (smaller than the first length), after a certain movement, if the average value of the distances between the inner corner points of each target of the current checkerboard and the boundary is larger than the second length and smaller than the first length (as the second length is smaller than the first length, the situation can occur), the checkerboard image is controlled to continue to move towards the boundary for the distance of the first length, and the inner corner points of the target of the checkerboard image are caused to move out of the boundary of the shooting range after the movement, so that the checkerboard data is lost.
The inner angle points of the checkerboard image are the inner angle points which are closest to the boundary and are located in the same checkerboard row or the same checkerboard column with the inner angle points when the inner angle points of all the rest checkerboard corners are found out from the corner points after the outermost circle of checkerboard is removed from the checkerboard image, and all the inner angle points located on the same checkerboard boundary line can be used as target inner angle points corresponding to the boundary. Taking the current control of the movement of the checkered image to the upper boundary as an example, as shown in fig. 2, the target inner corner points are a plurality of inner corner points which are marked by small black circles in fig. 2, are positioned on the same checkered line (the checkered of the second row) and are positioned on the same checkered boundary line (the upper boundary line of the checkered of the second row). After an image within the shooting range is shot, the image is analyzed, the distances between the inner corner points of each object and the upper boundary are detected respectively, and then the average value of the distances is calculated. If the average value is smaller than a certain preset second length (for example, 1.5 times of the side length of the checkerboard), determining that the movement of the checkerboard image in the upward boundary direction is finished, otherwise, continuously controlling the movement of the checkerboard image in the upward boundary direction by a distance of 0.5 times of the side length of the checkerboard image, shooting the image again, and entering the next judging process. By the definition, the checkerboard image can be prevented from moving out of the shooting range, so that the obtained target image is ensured to have complete checkerboard information, and the accuracy of the subsequent execution of camera calibration is improved.
In addition, if any one of the internal corners of the checkerboard in the image within the shooting range shot by the zoom camera is detected to be out of the shooting range (i.e. the internal corners of the checkerboard in the image are not all visible), the end of the movement of the checkerboard image in a certain boundary direction can be determined as well. By means of the arrangement, all inner corner points of the checkerboard image in the shot target image can be guaranteed, so that when camera calibration is carried out according to the target image (for example, calibration is carried out by adopting a Zhang Zhengyou calibration method), the inner corner point information of the checkerboard can be successfully obtained, and calibration is completed.
Further, the calibration image is a solid circle array image, and each time the calibration image is controlled to move a distance of a first length to the boundary until the image within the shooting range shot by the zoom camera meets a preset condition, the method may include:
Each time, controlling the solid circle array image to move a distance of a first length to the boundary until the average value of the distances between the circle centers of all targets of the solid circle array in the image in the shooting range shot by the zoom camera and the boundary is smaller than a third length, or until any circle center of the solid circle array in the image in the shooting range shot by the zoom camera is out of the shooting range; the circle centers of the targets are all circle centers which are contained in the solid circle array and are closest to the boundary, and are located in the same solid circle row or the same solid circle column. The third length is also required to be greater than the first length because: the first length is a stepping length for controlling the movement of the moving checkerboard image every time, if the third length is set to be too small (smaller than the first length), after a certain movement, if the average value of the distances between each target circle center of the current solid circle array and the boundary is larger than the third length and smaller than the first length (as the third length is smaller than the first length, the situation can occur), the solid circle array image is controlled to continue to move to the boundary for the distance of the first length, and the target circle center of the solid circle array image is caused to move out of the boundary of the shooting range after the movement, so that the solid circle array data is lost.
The target circle center of the solid circle array refers to all circle centers contained in the solid circle array and located in the same solid circle row or the same solid circle column with the nearest circle center, wherein the nearest circle center refers to the circle center contained in the solid circle array and located at the nearest distance from the boundary. Taking the current control of the movement of the solid circle array image to the upper boundary as an example, as shown in fig. 3, the target circle center is a plurality of circle centers in the same solid circle row (the solid circle of the first row) marked by the small black circles in fig. 3. After an image within the shooting range is shot, the image is analyzed, the distance between the center of each target circle and the upper boundary is detected respectively, and then the average value of the distances is calculated. If the average value is smaller than a certain preset third length (for example, 1.5 times of the diameter of the solid circle), determining that the movement of the solid circle array image in the upward boundary direction is finished, otherwise, continuously controlling the distance that the solid circle array image moves by a first length (for example, 0.5 times of the diameter of the solid circle) to the upward boundary, then shooting the image again, and entering the next judging process. By the definition, the solid circle array image can be prevented from moving out of the shooting range, so that the obtained target image is ensured to have complete solid circle array information, and the accuracy of the subsequent execution of camera calibration is improved.
In addition, if it is detected that any one circle center of the solid circle array in the image in the shooting range shot by the zoom camera is out of the shooting range (i.e., the circle centers of the solid circle array in the image are not all visible), it is also possible to determine that the movement of the solid circle array image in a certain boundary direction is finished. By the arrangement, all circle centers of the solid circle array image can be ensured in the shot target image, so that the calibration of the camera can be performed according to the target image.
104. Adjusting the pose of the zoom camera, and returning to the step of determining the shooting range of the zoom camera in the appointed display area until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
After obtaining the target image (a plurality of images in the shooting range including the pattern array) corresponding to the current pose of the zoom camera, the pose of the zoom camera can be adjusted, and then step 101 is returned, and steps 101-104 are repeated continuously until the target image corresponding to the zoom camera under a plurality of different poses is obtained. In order to accurately complete calibration of the zoom camera, at least one target image of the zoom camera corresponding to each of the 3 different poses is generally obtained.
In one embodiment of the present application, the zoom camera is disposed on a camera stand, the camera stand is disposed on a program-controlled turntable, and the adjusting the pose of the zoom camera may include:
Controlling the program control turntable to rotate a preset angle in a first direction so as to adjust the pose of the zoom camera; or alternatively
And controlling the program control turntable to rotate the preset angle in the opposite direction of the first direction so as to adjust the pose of the zoom camera.
In order to automate the camera pose adjustment, the zoom camera may be mounted on a camera mount that is mounted on a program-controlled turntable. After the terminal equipment such as a computer and the like are electrically connected with the program control turntable, a control instruction can be sent through a designated APP (for example, an application program for realizing automatic calibration of a camera) to control the program control turntable to rotate clockwise or anticlockwise by a set angle.
In one embodiment of the present application, the overall process of adjusting the pose of the zoom camera may include:
(1) Acquiring a target image corresponding to a zoom camera in a first pose (the program control turntable is at an initial position);
(2) The program control turntable is controlled to rotate anticlockwise by a stepping angle (for example, 3 degrees), and a target image corresponding to the zoom camera in the second pose is obtained;
(3) The program control turntable is controlled to rotate anticlockwise for a stepping angle again, and a target image corresponding to the zoom camera in a third pose is obtained;
(4) The program control turntable is controlled to rotate anticlockwise for a stepping angle again, and a target image corresponding to the zoom camera in a fourth pose is obtained;
(5) The program control turntable is controlled to rotate anticlockwise for a stepping angle again, and a target image corresponding to the zoom camera in a fifth pose is obtained;
(6) Controlling the program control turntable to return to the initial position;
(7) Controlling the program control turntable to rotate clockwise by a stepping angle to acquire a target image corresponding to the zoom camera in a sixth pose;
(8) The program control turntable is controlled to rotate clockwise for a stepping angle again, and a target image corresponding to the zoom camera in the seventh pose is obtained;
(9) The program control turntable is controlled to rotate clockwise for a stepping angle again, and a target image corresponding to the zoom camera in the eighth pose is obtained;
(10) And controlling the program control turntable to rotate a stepping angle again clockwise to acquire a target image corresponding to the zoom camera in the ninth pose.
The calibration work of the zoom camera can be accurately finished through the obtained target images corresponding to 9 different poses respectively, wherein the target images corresponding to each pose comprise a plurality of calibration images.
105. And calibrating the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses.
And finally, calibrating the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses. Specifically, the calibration of the zoom camera can be completed by adopting a corresponding calibration algorithm according to the type of the calibration image. For example, if the calibration image is a checkerboard image, calibration of the zoom camera may be accomplished using a Zhang Zhengyou checkerboard calibration method based on the target images, and so on. The specific description of Zhang Zhengyou chessboard calibration method can refer to the prior art, and the application is not repeated.
Firstly, determining a shooting range of a zoom camera to be calibrated in a display area, and displaying a calibration image in the shooting range; then, the calibration image is controlled to move for a plurality of times in the display area, and the zoom camera is controlled to shoot corresponding images before each movement, so that a target image corresponding to the zoom camera under one pose is obtained; then, adjusting the pose of the zoom camera, and continuously repeating the steps until target images corresponding to the zoom camera under a plurality of different poses are obtained; finally, calibration of the zoom camera can be completed according to the checkerboard images. The automatic calibration of the zoom camera is realized through the process, and compared with a method for calibrating a plurality of fixed-focus cameras by regarding the zoom camera, the calibration efficiency of the camera is improved.
Referring to fig. 4, another calibration method of a zoom camera according to an embodiment of the present application is shown, including:
401. Displaying a first marker image in a designated display area, the first marker image comprising a plurality of different markers;
After setting up the hardware devices of the system, adjusting the lens of the zoom camera to be calibrated to be aligned to a reasonable position (for example, the midpoint position) of the designated display area, step 401 is started to be executed.
The terminal device for calibrating the camera controls the display area to display a marker image comprising a plurality of different markers. Specifically, the marker image may be a global image covering the whole display area, each marker in the image is arranged according to the respective position, and the terminal device has recorded the information such as the position of each marker in the image and the corresponding ID. For example, the marker image may be a aruco image as shown in fig. 5, in which a plurality of markers (marks) are arranged in the aruco image, where each marker has a corresponding unique ID, and the terminal device knows the position of each marker in the aruco image and the corresponding ID, where the position refers to the arrangement position of each marker in the aruco image, for example, the position of each marker in the row and column of the aruco image, respectively. After the aruco image is displayed in the specified display area, since the position area in which the aruco image is displayed in the specified display area is settable by the terminal device, the terminal device knows the position coordinate range of the entirety of the aruco image in the specified display area. Then, by identifying the two-dimensional code of a certain marker in the designated display area, the ID corresponding to the marker can be obtained, and the position of the marker in the designated display area can be determined according to the position coordinate range of the whole aruco image in the designated display area and the arrangement position of the marker in the aruco image.
402. Controlling a zoom camera to shoot the first marker image to obtain a second marker image;
Then, the zoom camera is controlled to shoot the first marker image, and a second marker image is obtained. It will be appreciated that since the first marker image is a global image that covers the entire display area, and the photographing area of the zoom camera does not cover the entire display area, the second marker image is a partial area of the first marker image.
403. Identifying the second marker image to obtain an identification result of each marker contained in the second marker image;
then, the second marker image is identified, specifically, each marker contained in the second marker image is identified (for example, a two-dimensional code of each marker is identified), so that an identification result of each marker contained in the second marker image is obtained, wherein the identification result can comprise two types of identification success and identification failure. In general, the second marker image shows a complete marker, which can be identified as successful; and for the incomplete display or the unclear display of the marks in the second marker image caused by various reasons (such as incomplete marks at the edges of the image or marks with unclear display caused by various noise interferences, etc.), failure in recognition may occur.
404. Determining a shooting range of the zoom camera in the display area according to the mark, contained in the second marker image, of which the identification result is successful;
After the recognition result of each mark included in the second marker image is obtained, the photographing range of the zoom camera in the display area is determined based on the mark (noted as the first mark) in which the recognition result is successful, and the obtained photographing range is determined to be a generally rectangular area. Specifically, the shooting range of the zoom camera may be calculated by adopting a maximum rectangle algorithm or the like according to the position of the mark with each identification result in the second marker image being successful. For example, the mark with the successful recognition result in the second marker image is denoted as "1", the mark with the failed recognition result is denoted as "0", and then the second marker image may be converted into a rectangular area formed by "0" and "1", and then the largest sub-rectangle with all the elements being "1" in the rectangular area is found out, which is the obtained shooting range of the zoom camera. Through the mode of identifying the marker image, the shooting range of the zoom camera can be accurately determined, and the method is convenient to implement and convenient to realize.
Further, after the second marker image is identified, an identification result of each marker included in the second marker image may further include:
(1) For each second marker included in the second marker image, detecting whether the area where the second marker (i.e., the marker whose identification result is failed) is surrounded by the area where the first marker (i.e., the marker whose identification result is successful) is located;
(2) And if the area where the second mark is located is surrounded by the area where the first mark is located, modifying the identification result of the second mark to be successful.
For marks in the second marker image that fail to be identified due to interference such as moire, the marks should be considered in determining the photographing range since they are not at the image edge, i.e., they are also within the photographing range of the zoom camera. Specifically, whether the area where each identification failed mark is located is surrounded by the area where the identification successful mark is located or not may be detected, and the identification results of these marks are modified to be successful for the identification failed mark surrounded therein. This process may be referred to as hole filling, for example, by converting the second marker image into a rectangular region consisting of "0" and "1" (the successful marker is identified as "1", the failed marker is identified as "0"), and since the number of markers that fail in identification is typically much less than the number of markers that fail in identification, the "0" s that are not at the edges of the image and that correspond to the markers that fail in identification will become the holes in the rectangular region (the holes are surrounded by the "1" s that correspond to the markers that fail in identification), after filling the holes (i.e., "0" s are modified to "1"), a more accurate maximum sub-rectangle can be calculated using a maximum rectangle algorithm, i.e., a more accurate photographing range of the zoom camera can be obtained. It should be noted that, the filled holes may be single "0" holes, or holes formed by a plurality of adjacent "0" holes, and if a hole is surrounded by "1", the hole is filled with "1".
In one embodiment of the present application, after determining the shooting range according to the first marker for which the identification result included in the second marker image is successful, it may further include:
(1) Expanding the shooting range to the set size to the periphery to obtain a first range area;
(2) Displaying a third marker image in the first range region, wherein the third marker image comprises the marks with the arrangement density larger than that of the first marker image;
(3) Controlling the zoom camera to shoot the third marker image to obtain a fourth marker image;
(4) Identifying the fourth marker image to obtain an identification result of each marker contained in the fourth marker image;
(5) Determining a second range area according to a third mark which is successful according to the identification result contained in the fourth marker image;
(6) And determining the second range area as the updated shooting range.
After performing steps 401-404, the photographing range of the zoom camera has been obtained, and in order to obtain a more accurate photographing range, the above-described steps (1) - (6) may be further performed to complete the process of fine-tuning the photographing range. Specifically, the shooting range is first enlarged by a set size to the periphery to obtain a first range area, and for example, the shooting range may be enlarged by a distance of 2 marks (markers) to the periphery to obtain an enlarged range area. Then, a third marker image having a larger marker arrangement density than the first marker image is displayed in the enlarged range area, for example, a aruco image having a smaller marker side length is displayed in the enlarged range area, and the aruco image can be adaptively generated according to the size of the enlarged range area. And then, controlling the zoom camera to shoot the third marker image to obtain a fourth marker image, and identifying the fourth marker image to obtain an identification result of each marker. And finally, determining a range area as the updated shooting range of the zoom camera according to the identification result contained in the fourth marker image as a successful marker. In addition, the specific manner of determining the photographing range in the above steps (3) to (5) is similar to the above steps 402 to 404, and reference is made specifically to the description of the above steps 402 to 404.
405. Displaying a calibration image in the shooting range;
406. Controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera under the current pose;
407. adjusting the pose of the zoom camera, and returning to the step of displaying the first marker image in the appointed display area until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
408. And calibrating the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses.
For a detailed description of steps 405-408, reference may be made to steps 102-105.
Firstly, determining a shooting range of a zoom camera to be calibrated in a designated display area, and displaying a calibration image in the shooting range; then, the calibration image is controlled to move for a plurality of times in the display area, and the zoom camera is controlled to shoot corresponding images before each movement, so that a target image corresponding to the zoom camera under one pose is obtained; then, adjusting the pose of the zoom camera, and continuously repeating the steps until target images corresponding to the zoom camera under a plurality of different poses are obtained; finally, the calibration of the zoom camera can be completed according to the target images. The automatic calibration of the zoom camera is realized through the process, and compared with a method for calibrating a plurality of fixed-focus cameras by regarding the zoom camera, the calibration efficiency of the camera is improved. In addition, compared with the first embodiment of the present application, the present embodiment proposes a specific implementation manner of determining the shooting range of the zoom camera in the display area, and can determine the shooting range of the zoom camera relatively accurately, so as to improve the accuracy of calibration of the zoom camera.
In order to more clearly illustrate the calibration method of the zoom camera provided by the embodiment of the application, an actual application scenario is listed below.
Fig. 6 is a schematic diagram of a calibration system for a zoom camera according to the present application, where the calibration system includes hardware devices such as a zoom camera to be calibrated, a camera stand, a program control turntable, a computer, and a display screen.
Before calibrating the zoom camera, the zoom camera is firstly installed on a camera support, the camera support is placed on a program control turntable, and the lens of the zoom camera is approximately aligned to the central position of the display screen by adjusting the height of the camera support and the angle of the program control turntable.
The computer is used as core equipment of the whole calibration system and is responsible for controlling the rotation of the program control turntable, the shooting of the zoom camera, the display of the display screen and the like. In actual operation, an application program for automatically calibrating the zoom camera can be installed in the computer, and after the computer is electrically connected with the program control turntable, the computer and the zoom camera, and the computer and the display screen respectively, an operator can operate the application program in the computer, thereby controlling the implementation of the whole camera calibration flow and recording camera parameters obtained through calibration.
FIG. 7 is a schematic flow chart of calibrating a zoom camera using the calibration system shown in FIG. 6. As shown in fig. 7, the camera calibration procedure basically includes the following steps:
(1) Displaying the global aruco images on a display screen;
(2) Controlling a zoom camera to be calibrated to take a picture;
(3) Analyzing the photographed image to obtain an initial photographing range of the zoom camera;
(4) Expanding the initial shooting range, and displaying aruco images with larger mark arrangement density in the expanded range area;
(5) Determining a shooting range after fine adjustment according to the aruco images with larger arrangement density;
(6) Displaying a checkerboard image in the finely adjusted shooting range;
(7) Controlling the checkerboard image to move in the display screen for a plurality of times, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera under the current pose;
(8) Judging whether a sufficient number of target images corresponding to the zoom camera under different poses are obtained, if yes, executing a step (9), otherwise, controlling the program control turntable to rotate by a designated angle so as to change the pose of the zoom camera, and then returning to execute the step (1) to continuously obtain the target images corresponding to the zoom camera under the next pose;
(9) And based on target images corresponding to the zoom camera under a plurality of different poses, the calibration of the zoom camera is completed.
The execution subjects of the steps (1) - (9) are computers, and the application program for camera calibration installed on the computers can comprise the following four parts: 1. calibrating part program of the camera; 2. a camera and screen visual range measuring section; 3. a camera shooting and program control turntable control part; an arco board, checkerboard generation and display section. Wherein, for the camera calibration part, zhang Zhengyou chessboard calibration method can be adopted. For the camera and screen visual range determination section, that is, the photographing range determination section of the camera, the corresponding photographing range of the camera is determined mainly by a aruco board including a plurality of markers. For the camera photographing and program control turntable control part, mouse click events can be simulated through programs, and corresponding application programs of the camera and the turntable are controlled to perform corresponding actions. For aruco panels, tessellation and display portions, the drawing of aruco panels, and tessellation images is determined primarily by the length and width of the display area.
Obviously, the automatic calibration of the zoom camera is realized through the process, so that the calibration efficiency of the zoom camera can be effectively improved.
It should be understood that the sequence numbers of the steps in the foregoing embodiments do not mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application.
The above mainly describes a calibration method of a zoom camera, and a calibration apparatus of a zoom camera will be described below.
Referring to fig. 8, an embodiment of a calibration device for a zoom camera according to an embodiment of the present application includes:
a shooting range determining module 801 for determining a shooting range of the zoom camera in a designated display area;
a calibration image display module 802, configured to display a calibration image in the shooting range;
The calibration image moving module 803 is configured to control the calibration image to move in the display area for multiple times, and control the zoom camera to capture an image in the capturing range before each movement, so as to obtain a target image corresponding to the zoom camera in the current pose;
a camera pose adjustment module 804, configured to adjust a pose of the zoom camera, and then control the shooting range determination module to determine a shooting range of the zoom camera in the specified display area after the pose is adjusted until target images corresponding to the zoom camera under a plurality of different poses are obtained;
And the camera calibration module 805 is configured to complete calibration of the zoom camera according to target images corresponding to the zoom camera under a plurality of different poses.
In one embodiment of the present application, the photographing range determining module may include:
A first marker image display unit for displaying a first marker image in the display area, the first marker image containing a plurality of different markers;
the first camera shooting unit is used for controlling the zoom camera to shoot the first marker image to obtain a second marker image;
The first image recognition unit is used for recognizing the second marker image to obtain a recognition result of each marker contained in the second marker image;
and the first shooting range determining unit is used for determining the shooting range according to the first mark which is successfully identified as the identification result contained in the second marker image.
Further, the shooting range determining module may further include:
A mark region detection unit configured to detect, for each second mark whose identification result is failed, whether or not a region where the second mark is located is surrounded by a region where the first mark is located;
And the identification result modification unit is used for modifying the identification result of the second mark to be successful if the area where the second mark is located is surrounded by the area where the first mark is located.
Further, the shooting range determining module may further include:
A shooting range expanding unit for expanding the shooting range to the periphery by a set size to obtain a first range area;
A second marker image display unit configured to display a third marker image in the first range area, the third marker image containing a greater arrangement density of markers than the first marker image;
the second camera shooting unit is used for controlling the zoom camera to shoot the third marker image to obtain a fourth marker image;
The second image recognition unit is used for recognizing the fourth marker image to obtain a recognition result of each marker contained in the fourth marker image;
A second shooting range determining unit configured to determine a second range area according to a third mark for which the identification result included in the fourth marker image is successful;
And a shooting range updating unit configured to determine the second range area as the updated shooting range.
In one embodiment of the present application, the calibration image moving module may include:
And the boundary moving unit is used for controlling the calibration image to sequentially move towards each boundary of the shooting range, wherein when the calibration image moves towards any boundary of the shooting range, the calibration image is controlled to move towards the boundary for a first length every time until the image in the shooting range shot by the zoom camera accords with a preset condition.
Further, the calibration image is a checkerboard image, and the boundary moving unit may include:
a first boundary moving subunit, configured to control the checkerboard image to move toward the boundary by a distance of a first length each time until an average value of distances between each target inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera and the boundary is smaller than a second length, or until any inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera is out of the shooting range; the second length is greater than the first length, and the target inner corner points are all inner corner points which are contained in the checkerboard, have the same checkerboard row or the same checkerboard column and are on the same checkerboard boundary line, wherein the inner corner points are the inner corner points which are contained in the checkerboard, have the nearest inner corner points to the boundary and are located on the same checkerboard line or the same checkerboard column.
Further, the calibration image is a solid circle array image, and the boundary moving unit may include:
A second boundary moving subunit, configured to control the solid circle array image to move to the boundary by a distance of a first length each time until an average value of distances between circle centers of respective targets of the solid circle array in the image in the shooting range shot by the zoom camera and the boundary is smaller than a third length, or until any circle center of the solid circle array in the image in the shooting range shot by the zoom camera is outside the shooting range; the target circle center is all circle centers which are contained in the solid circle array and are closest to the boundary, are located in the same solid circle row or the same solid circle column, and the third length is larger than the first length.
In one embodiment of the present application, the zoom camera is disposed on a camera stand, the camera stand is disposed on a program-controlled turntable, and the camera pose adjustment module may include:
The first pose adjusting unit is used for controlling the program control turntable to rotate a preset angle in a first direction so as to adjust the pose of the zoom camera;
And the second pose adjusting unit is used for controlling the program control turntable to rotate the preset angle in the opposite direction of the first direction so as to adjust the pose of the zoom camera.
Embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of a calibration method of any one of the zoom cameras as shown in fig. 1 or 4.
The embodiments of the present application also provide a computer program product which, when run on a terminal device, causes the terminal device to perform the steps of implementing a calibration method for any one of the zoom cameras as shown in fig. 1 or fig. 4.
Fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present application. As shown in fig. 9, the terminal device 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92 stored in said memory 91 and executable on said processor 90. The processor 90, when executing the computer program 92, implements the steps in the embodiments of the calibration method of each zoom camera described above, such as steps 101 to 105 shown in fig. 1. Or the processor 90, when executing the computer program 92, performs the functions of the modules/units of the apparatus embodiments described above, e.g. the functions of the modules 801 to 805 shown in fig. 8.
The computer program 92 may be divided into one or more modules/units, which are stored in the memory 91 and executed by the processor 90 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 92 in the terminal device 9.
The Processor 90 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the terminal device 9, such as a hard disk or a memory of the terminal device 9. The memory 91 may also be an external storage device of the terminal device 9, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the terminal device 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the terminal device 9. The memory 91 is used for storing the computer program and other programs and data required by the terminal device. The memory 91 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. A method of calibrating a zoom camera, comprising:
Determining a shooting range of the zoom camera in a designated display area;
displaying a calibration image in the shooting range;
Controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera under the current pose;
Adjusting the pose of the zoom camera, and returning to the step of determining the shooting range of the zoom camera in the appointed display area until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
calibrating the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses;
wherein the determining the shooting range of the zoom camera in the designated display area includes:
Displaying a first marker image in the display region, the first marker image comprising a plurality of different markers;
Controlling the zoom camera to shoot the first marker image to obtain a second marker image;
identifying the second marker image to obtain an identification result of each marker contained in the second marker image;
and determining the shooting range according to the first mark which is successfully identified by the identification result contained in the second marker image.
2. The method of claim 1, further comprising, after identifying the second marker image to obtain an identification result of each marker included in the second marker image:
For each second marker, the identification result of which is failed, contained in the second marker image, detecting whether the area where the second marker is located is surrounded by the area where the first marker is located;
and if the area where the second mark is located is surrounded by the area where the first mark is located, modifying the identification result of the second mark to be successful.
3. The method of claim 1, further comprising, after determining the photographing range based on the identification result included in the second marker image as a successful first marker:
expanding the shooting range to the set size to the periphery to obtain a first range area;
displaying a third marker image in the first range region, wherein the third marker image comprises the marks with the arrangement density larger than that of the first marker image;
controlling the zoom camera to shoot the third marker image to obtain a fourth marker image;
Identifying the fourth marker image to obtain an identification result of each marker contained in the fourth marker image;
determining a second range area according to a third mark which is successful according to the identification result contained in the fourth marker image;
And determining the second range area as the updated shooting range.
4. A method according to any one of claims 1 to 3, wherein controlling the calibration image to move a plurality of times within the display area comprises:
And controlling the calibration image to sequentially move towards each boundary of the shooting range, wherein when the calibration image moves towards any boundary of the shooting range, the calibration image is controlled to move towards the boundary for a first length each time until the image in the shooting range shot by the zoom camera meets the preset condition.
5. The method of claim 4, wherein the calibration image is a checkerboard image, each time the calibration image is controlled to move a first length of distance toward the boundary until the image within the shooting range shot by the zoom camera meets a preset condition, comprising:
Each time the checkerboard image is controlled to move to the boundary for a distance of a first length until the average value of the distances between each target inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera and the boundary is smaller than a second length, or until any inner corner point of the checkerboard in the image in the shooting range shot by the zoom camera is out of the shooting range;
The second length is greater than the first length, and the target inner corner points are all inner corner points which are contained in the checkerboard, have the same checkerboard row or the same checkerboard column and are on the same checkerboard boundary line, wherein the inner corner points are the inner corner points which are contained in the checkerboard, have the nearest inner corner points to the boundary and are located on the same checkerboard line or the same checkerboard column.
6. The method of claim 4, wherein the calibration image is a solid circular array image, each time the calibration image is controlled to move a first length of distance toward the boundary until the image within the shooting range shot by the zoom camera meets a preset condition, comprising:
Each time, controlling the solid circle array image to move a distance of a first length to the boundary until the average value of the distances between the circle centers of all targets of the solid circle array in the image in the shooting range shot by the zoom camera and the boundary is smaller than a third length, or until any circle center of the solid circle array in the image in the shooting range shot by the zoom camera is out of the shooting range;
the target circle center is all circle centers which are contained in the solid circle array and are closest to the boundary, are located in the same solid circle row or the same solid circle column, and the third length is larger than the first length.
7. A calibration device for a zoom camera, comprising:
A shooting range determining module for determining a shooting range of the zoom camera in the designated display area;
The calibration image display module is used for displaying a calibration image in the shooting range;
The calibration image moving module is used for controlling the calibration image to move for a plurality of times in the display area, and controlling the zoom camera to shoot the image in the shooting range before each movement to obtain a target image corresponding to the zoom camera in the current pose;
The camera pose adjusting module is used for adjusting the pose of the zoom camera, and then controlling the shooting range determining module to determine the shooting range of the zoom camera in the appointed display area after the pose is adjusted until target images respectively corresponding to the zoom camera under a plurality of different poses are obtained;
the camera calibration module is used for completing calibration of the zoom camera according to target images respectively corresponding to the zoom camera under a plurality of different poses;
wherein, the shooting range determining module includes:
A first marker image display unit for displaying a first marker image in the display area, the first marker image containing a plurality of different markers;
the first camera shooting unit is used for controlling the zoom camera to shoot the first marker image to obtain a second marker image;
The first image recognition unit is used for recognizing the second marker image to obtain a recognition result of each marker contained in the second marker image;
and the first shooting range determining unit is used for determining the shooting range according to the first mark which is successfully identified as the identification result contained in the second marker image.
8. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the calibration method of a zoom camera according to any of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the calibration method of a zoom camera according to any one of claims 1 to 6.
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