Double-fisheye lens panorama camera calibration method and device, storage medium and terminal

Abstract

The invention discloses a double-fisheye lens panorama camera calibration method and device, a storage medium and a terminal. The double-fisheye lens panorama camera calibration method comprises the following steps of: determining a to-be-calibrated inner parameter and a to-be-calibrated outer parameter; obtaining a first pair of fisheye images shot by a double-fisheye lens in allusion to a checkboard calibration plate and a random feature point calibration plate; adjusting the position of an optical center by utilizing differences between a first projection coordinate of an angular point in the checkboard calibration plate and coordinates of angular points in the first pair of fisheye images, so as to obtain an optimum optical center; updating the double-fisheye lens to be the optimum optical center, and obtaining a second pair of fisheye images shot by the double-fisheye lens; and adjusting a value of a distortion multinomial coefficient and a value of the outer parameter by utilizing coordinate differences, in a panorama image, of a plurality of random feature points of the random feature point calibration plate in the second pair of fisheye images, so as to obtain an optimum distortion multinomial coefficient and an optimum outer parameter. According to the method and device, the storage medium and the terminal, the correctness of calibrating fisheye lenses can be improved.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a calibration method and device, a storage medium, and a terminal for a panoramic camera with a double fisheye lens. Background technique [0002] A 360-degree panoramic camera is usually composed of multiple ordinary lenses or multiple wide-angle cameras, which synchronously collect scenes within a 360-degree range and fuse them into a complete spherical projection image. The panoramic camera composed of 2 fisheye cameras effectively reduces the complexity of the stitching algorithm and realizes fast stitching. The image of the fisheye lens will produce distortion. The fisheye lens needs to be calibrated when producing the fisheye lens. [0003] In the prior art, the internal and external parameters of the fisheye lens are calibrated separately. When calibrating the internal parameters, make the calibration plate cover most of the area on the lens image, especially t...

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Problems solved by technology

[0004] However, the larger the coverage of the calibration plate on the image during internal parameter calibration, the better the calibration effect. Therefore, it is necessary to move the camera or the calibration plate as much as possible, which is cumbersome and time-consuming, and the production efficiency is low.

When calibrating external parameters, the calibration plate needs to be covered by two lens images at the same time, which usually results in a small coverage area of ​​the calibration plate on the image, resulting in a large error

In addition, the internal parameters and external parameters of the lens are calculated separately, and the first internal parameter distortion curve cannot be effectively evaluated at the edge of the field of view, resulting in often unsatisfactory external parameter calibration results, and the final stitching effect is not good.

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