Camera calibration method and device

Abstract

The present application provides a camera calibration method and device, which are applied to a cloud platform system, wherein the cloud platform system includes a cloud platform and at least one mobile terminal device. In the method, a video image sent by the mobile terminal device is obtained, and the video image is preprocessed to obtain a picture to be calibrated; the picture to be calibrated is image calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area; the coordinate information is sent to a corresponding mobile terminal device to implement calibration of the camera. The camera calibration method and device provided by the present application simplifies the operation process, thereby improving production efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of cargo identification, and in particular to a camera calibration method and device. Background Art

[0002] In order to ensure that goods do not fall during the container production process, currently, video solutions are mainly used to detect goods falling, which can well replace the traditional infrared grating detection method in market applications. At the same time, the reliability of video detection can well replace the shortcomings of stability and false triggering of the grating itself. For the video solution, if you want to accurately identify the situation of goods falling, you need to calibrate the pixels of the video pattern shot by the camera. Only after accurate calibration can the video recognition algorithm be used to accurately determine the situation of goods falling.

[0003] To this end, the pixel calibration method in the prior art includes the following steps: the staff contacts the dedicated R&D personnel to connect the container motherboard to an external display; after the container is turned on, the program is executed to automatically take a target picture, and the target picture is copied from the motherboard through a USB flash drive or other device; then the computer is put into use to obtain the coordinate information of the required calibration area through the software, and the obtained coordinate information is filled in the config file; finally, the modified config file is copied to the motherboard again to complete the pixel calibration of the picture. The entire calibration process takes about 3 minutes to complete.

[0004] In order to accurately determine the situation of cargo falling, it is necessary to use the above-mentioned pixel calibration method to calibrate the image area of ​​each camera. Therefore, every time a machine is produced, it is necessary to contact a specialist for processing. It can be seen that the pixel calibration method in the prior art is too complicated and takes up too much production time. Summary of the invention

[0005] The present application provides a camera calibration method and device to simplify the operation process and improve production efficiency.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A camera calibration method is applied to a cloud platform system, wherein the cloud platform system includes a cloud platform and at least one mobile terminal device, and the method includes:

[0008] Acquire the video image sent by the mobile terminal device, and pre-process the video image to obtain a picture to be calibrated;

[0009] Performing image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of the required calibration area;

[0010] The coordinate information is sent to the corresponding mobile terminal device to achieve calibration of the camera.

[0011] Specifically, the acquiring the video image sent by the mobile terminal device and preprocessing the video image to obtain the image to be calibrated includes:

[0012] Acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by photographing a plurality of non-overlapping calibration plates by the camera to be calibrated, and separation marks are provided between each of the plurality of calibration plates;

[0013] The initial video image is segmented according to the segmentation mark to obtain target image units corresponding to the calibration plates, wherein the target image units contain all the calibration information in the corresponding calibration plates;

[0014] Detecting the calibration information in each of the target image units respectively, and filtering out target calibration information that meets the calibration conditions from the calibration information of each of the target image units based on the detection result;

[0015] A picture to be calibrated corresponding to the camera to be calibrated is generated based on the target calibration information in each of the target image units.

[0016] Specifically, the multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

[0017] Specifically, the initial video image is segmented according to the segmentation mark to obtain target image units corresponding to each calibration plate, including:

[0018] Detecting the initial video image to identify the separation mark in the initial video image;

[0019] Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark;

[0020] The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

[0021] A camera calibration device is applied to a cloud platform system, wherein the cloud platform system includes a cloud platform and at least one mobile terminal device, and the device includes:

[0022] A first processing unit, configured to obtain a video image sent by the mobile terminal device, and pre-process the video image to obtain a picture to be calibrated;

[0023] A second processing unit is used to perform image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area;

[0024] The third processing unit is used to send the coordinate information to the corresponding mobile terminal device to realize the calibration of the camera.

[0025] Specifically, the first processing unit specifically includes:

[0026] An acquisition unit is used to acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by the camera to be calibrated shooting a plurality of non-overlapping calibration plates, and separation marks are provided between the plurality of calibration plates;

[0027] A separation unit, used for performing separation processing on the initial video image according to the separation mark to obtain target image units corresponding to each calibration plate, wherein the target image unit contains all the calibration information in the corresponding calibration plate;

[0028] A screening unit, configured to detect the calibration information in each of the target image units respectively, and screen out target calibration information that meets the calibration condition from the calibration information of each of the target image units based on the detection result;

[0029] A generating unit is used to generate a to-be-calibrated picture corresponding to the to-be-calibrated camera based on the target calibration information in each of the target image units.

[0030] Specifically, the multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

[0031] Specifically, the separation unit is specifically used for:

[0032] Detecting the initial video image to identify the separation mark in the initial video image;

[0033] Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark;

[0034] The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

[0035] A storage medium includes a stored program, wherein when the program is run, the device where the storage medium is located is controlled to execute the camera calibration method as described above.

[0036] An electronic device comprises at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other via the bus; and the processor is used to call program instructions in the memory to execute the camera calibration method as described above.

[0037] The camera calibration method and device described in the present application are applied to a cloud platform system, which includes a cloud platform and at least one mobile terminal device. In the method, a video image sent by the mobile terminal device is obtained, and the video image is preprocessed to obtain a picture to be calibrated; the picture to be calibrated is calibrated based on a preset calibration algorithm to obtain coordinate information of the required calibration area; the coordinate information is sent to the corresponding mobile terminal device to realize the calibration of the camera. The camera calibration method and device provided in the present application simplifies the operation process, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of a cloud platform system structure disclosed in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a flow chart of a camera calibration method disclosed in an embodiment of the present application;

[0041] Figure 3 A schematic flow chart of a specific implementation method of obtaining a video image sent by the mobile terminal device and preprocessing the video image to obtain a picture to be calibrated disclosed in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the structure of a camera calibration device disclosed in an embodiment of the present application;

[0043] Figure 5A schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0044] This application provides a camera calibration method and device, which is applied to Figure 1 The cloud platform system includes: a cloud platform 10 and at least one mobile terminal device 20, the mobile terminal device 20 is connected to the container by wireless or wired means, the image to be calibrated is obtained by the mobile terminal device 20, the image to be calibrated is uploaded to the cloud platform 10, and pixel calibration is performed by the calibration algorithm on an application program installed with the calibration algorithm on the cloud platform 10, so as to accurately judge the situation of cargo falling.

[0045] To this end, the present application provides a camera calibration method and device, the purpose of which is to simplify the operating process and improve production efficiency.

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Please see attached Figure 2 , is a flow chart of a camera calibration method provided in an embodiment of the present application. Figure 2 As shown, the embodiment of the present application provides a camera calibration method, which is applied to a cloud platform system, such as Figure 1 As shown, the cloud platform system includes a cloud platform 10 and at least one mobile terminal device 20, and the method includes:

[0048] S201: Acquire a video image sent by the mobile terminal device, and pre-process the video image to obtain a picture to be calibrated;

[0049] S202: performing image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area;

[0050] S203: Send the coordinate information to a corresponding mobile terminal device to implement calibration of the camera.

[0051] Further, such as Figure 3 As shown, the above-mentioned obtaining the video image sent by the mobile terminal device and preprocessing the video image to obtain the image to be calibrated includes the following steps:

[0052] S301: Acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by photographing a plurality of non-overlapping calibration plates by the camera to be calibrated, and separation marks are provided between each of the plurality of calibration plates;

[0053] S302: performing segmentation processing on the initial video image according to the segmentation mark to obtain target image units corresponding to the calibration plates, wherein the target image units contain all calibration information in the corresponding calibration plates;

[0054] S303: Detect the calibration information in each of the target image units respectively, and select the target calibration information that meets the calibration condition from the calibration information of each of the target image units based on the detection result;

[0055] S304: Generate a picture to be calibrated corresponding to the camera to be calibrated based on the target calibration information in each of the target image units.

[0056] It should be noted that the multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

[0057] Furthermore, the above-mentioned separation processing of the initial video image according to the separation mark to obtain the target image units corresponding to each of the calibration plates includes the following steps:

[0058] Detecting the initial video image to identify the separation mark in the initial video image;

[0059] Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark;

[0060] The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

[0061] The embodiment of the present application provides a camera calibration method, which is applied to a cloud platform system, wherein the cloud platform system includes a cloud platform and at least one mobile terminal device. In the method, a video image sent by the mobile terminal device is obtained, and the video image is preprocessed to obtain a picture to be calibrated; image calibration is performed on the picture to be calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area; the coordinate information is sent to a corresponding mobile terminal device to implement calibration of the camera. The camera calibration method provided by the embodiment of the present application simplifies the operation process, thereby improving production efficiency.

[0062] Compared with the pixel calibration method in the prior art, the camera calibration method provided in the embodiment of the present application only takes 1 minute to calibrate each camera to be calibrated, which simplifies the operation process compared with the pixel calibration method in the prior art.

[0063] See also Figure 4 Based on the camera calibration method disclosed in the above embodiment, this embodiment discloses a camera calibration device, which is applied to a cloud platform system, such as Figure 1 As shown, the cloud platform system includes a cloud platform 10 and at least one mobile terminal device 20, and the device includes:

[0064] The first processing unit 41 is used to obtain the video image sent by the mobile terminal device and pre-process the video image to obtain a picture to be calibrated;

[0065] The second processing unit 42 is used to perform image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area;

[0066] The third processing unit 43 is used to send the coordinate information to the corresponding mobile terminal device to achieve calibration of the camera.

[0067] Furthermore, the first processing unit 41 specifically includes:

[0068] An acquisition unit 411 is used to acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by the camera to be calibrated shooting a plurality of non-overlapping calibration plates, and a separation mark is provided between each of the plurality of calibration plates;

[0069] A separation unit 412, configured to perform separation processing on the initial video image according to the separation mark, to obtain target image units corresponding to the respective calibration plates, wherein the target image units contain all the calibration information in the corresponding calibration plate;

[0070] A screening unit 413 is used to detect the calibration information in each of the target image units respectively, and screen the target calibration information that meets the calibration condition from the calibration information of each of the target image units based on the detection result;

[0071] The generating unit 414 is configured to generate a to-be-calibrated image corresponding to the to-be-calibrated camera based on the target calibration information in each of the target image units.

[0072] It should be noted that the multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

[0073] Furthermore, the separation unit 412 is specifically used for:

[0074] Detecting the initial video image to identify the separation mark in the initial video image;

[0075] Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark;

[0076] The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

[0077] The camera calibration device includes a processor and a memory. The first processing unit, the second processing unit, the third processing unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

[0078] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to simplify the operation process and improve production efficiency.

[0079] An embodiment of the present application provides a storage medium on which a program is stored, and when the program is executed by a processor, the camera calibration method is implemented.

[0080] An embodiment of the present application provides a processor, which is used to run a program, wherein the camera calibration method is executed when the program is running.

[0081] The present application embodiment provides an electronic device, such as Figure 5As shown, the electronic device 50 includes at least one processor 501, and at least one memory 502 and a bus 503 connected to the processor; wherein the processor 501 and the memory 502 communicate with each other through the bus 503; the processor 501 is used to call the program instructions in the memory 502 to execute the above-mentioned camera calibration method.

[0082] The electronic devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0083] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the following method steps:

[0084] Acquire the video image sent by the mobile terminal device, and pre-process the video image to obtain a picture to be calibrated;

[0085] Performing image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of the required calibration area;

[0086] The coordinate information is sent to the corresponding mobile terminal device to achieve calibration of the camera.

[0087] Further, the acquiring of the video image sent by the mobile terminal device and preprocessing of the video image to obtain the image to be calibrated includes:

[0088] Acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by photographing a plurality of non-overlapping calibration plates by the camera to be calibrated, and separation marks are provided between each of the plurality of calibration plates;

[0089] The initial video image is segmented according to the segmentation mark to obtain target image units corresponding to the calibration plates, wherein the target image units contain all the calibration information in the corresponding calibration plates;

[0090] Detecting the calibration information in each of the target image units respectively, and filtering out target calibration information that meets the calibration conditions from the calibration information of each of the target image units based on the detection result;

[0091] A picture to be calibrated corresponding to the camera to be calibrated is generated based on the target calibration information in each of the target image units.

[0092] It should be noted that the multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

[0093] Furthermore, the initial video image is segmented according to the segmentation mark to obtain target image units corresponding to each calibration plate, including:

[0094] Detecting the initial video image to identify the separation mark in the initial video image;

[0095] Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark;

[0096] The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

[0097] The present application is described by flowcharts and / or block diagrams of the methods, devices (systems), and computer program products of the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] In a typical configuration, the device includes one or more processors (CPU), memory and bus. The device may also include input / output interface, network interface and the like.

[0099] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.

[0100] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0103] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A camera calibration method, characterized in that: Applied to a cloud platform system, the cloud platform system includes a cloud platform and at least one mobile terminal device, the method includes: Acquire the video image sent by the mobile terminal device, and pre-process the video image to obtain a picture to be calibrated; Performing image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of the required calibration area; Sending the coordinate information to a corresponding mobile terminal device to achieve calibration of the camera; The acquiring of the video image sent by the mobile terminal device and preprocessing the video image to obtain the image to be calibrated includes: Acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by photographing a plurality of non-overlapping calibration plates by the camera to be calibrated, and separation marks are provided between each of the plurality of calibration plates; The initial video image is segmented according to the segmentation mark to obtain target image units corresponding to the calibration plates, wherein the target image units contain all calibration information in the corresponding calibration plates; Detecting the calibration information in each of the target image units respectively, and filtering out target calibration information that meets the calibration conditions from the calibration information of each of the target image units based on the detection result; A picture to be calibrated corresponding to the camera to be calibrated is generated based on the target calibration information in each of the target image units.

2. The method according to claim 1, characterized in that The multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

3. The method according to claim 1, characterized in that: The step of performing segmentation processing on the initial video image according to the segmentation mark to obtain target image units corresponding to each calibration plate includes: Detecting the initial video image to identify the separation mark in the initial video image; Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark; The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

4. A camera calibration device, characterized in that: Applied to a cloud platform system, the cloud platform system includes a cloud platform and at least one mobile terminal device, the device includes: A first processing unit, configured to obtain a video image sent by the mobile terminal device, and preprocess the video image to obtain a picture to be calibrated; A second processing unit is used to perform image calibration on the image to be calibrated based on a preset calibration algorithm to obtain coordinate information of a required calibration area; A third processing unit, used to send the coordinate information to a corresponding mobile terminal device to implement calibration of the camera; The first processing unit specifically includes: An acquisition unit is used to acquire an initial video image acquired by a camera to be calibrated, wherein the initial video image is acquired by the camera to be calibrated shooting a plurality of non-overlapping calibration plates, and separation marks are provided between the plurality of calibration plates; A separation unit, used for performing separation processing on the initial video image according to the separation mark to obtain target image units corresponding to each calibration plate, wherein the target image unit contains all the calibration information in the corresponding calibration plate; A screening unit, configured to detect the calibration information in each of the target image units respectively, and screen out target calibration information that meets the calibration condition from the calibration information of each of the target image units based on the detection result; A generating unit is used to generate a to-be-calibrated picture corresponding to the to-be-calibrated camera based on the target calibration information in each of the target image units.

5. The device according to claim 4, characterized in that The multiple non-overlapping calibration plates include an initial calibration plate and a reference calibration plate; before the initial image is acquired by the camera to be calibrated, the multiple non-overlapping calibration plates are set within the field of view of the camera to be calibrated, and the initial calibration plate among the multiple non-overlapping calibration plates is located at the center, and the reference calibration plates among the multiple non-overlapping calibration plates except the initial calibration plate are evenly distributed around the initial calibration plate.

6. The device according to claim 4, characterized in that The separation unit is specifically used for: Detecting the initial video image to identify the separation mark in the initial video image; Determining a plurality of target cropping lines of the initial video image by using the separation marks, wherein each target cropping line has at least one separation mark; The initial video image is cropped according to the multiple target cropping lines to obtain target image units corresponding to each of the calibration plates.

7. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the camera calibration method according to any one of claims 1 to 3.

8. An electronic device, characterized in that: The electronic device includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the camera calibration method as described in any one of claims 1 to 3.

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