Camera parameter real-time compensation method, device, equipment and storage medium

Abstract

The present invention provides a camera parameter real-time compensation method, device, equipment and storage medium, which are used to compensate the camera parameters of a binocular camera in a three-dimensional scanning system in real time based on multiple temperature sensors arranged on the three-dimensional scanning system. The method includes: obtaining the initial calibration camera parameters and the initial temperature value of each temperature sensor in the multiple temperature sensors during the initial calibration of the camera parameters; obtaining the real-time temperature value of the temperature sensor, and judging whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value; when the initial calibration camera parameters need to be compensated, determining the camera compensation parameters based on the real-time temperature value. The present invention collects the temperature of the three-dimensional scanning system in real time through multiple temperature sensors, and compensates the camera parameters according to the real-time temperature value to obtain the camera compensation parameters, which can improve the accuracy of the scanning data obtained by the scanning system.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning technology, and in particular to a camera parameter real-time compensation method, device, equipment and storage medium. Background Art

[0002] With the rise of China's high-end manufacturing, various new high-end technologies are constantly emerging. In the field of close-range 3D scanning, for large-scale 3D scanning, various manufacturers have launched tracking 3D scanning systems with similar forms, functions, and application scenarios. For tracking 3D scanning systems, the basic principle is to perform calibration (tracker calibration, ball scan calibration) before use to obtain camera external parameters, so as to facilitate the subsequent calculation of the rotation and translation (RT) matrix from the ball scan coordinate system to the tracker coordinate system.

[0003] However, due to the complex working environment, for example, in a high temperature environment, the 3D scanning system will expand and contract due to heat, which will cause the camera external parameters calibrated before use to change, which will affect the calculation of the RT matrix in the subsequent scanning work, thereby affecting the accuracy of the acquired 3D scanning data.

[0004] Therefore, there is an urgent need to provide a real-time camera parameter compensation method, device, equipment and storage medium to solve the technical problem in the prior art that the camera external parameters change due to temperature changes, thereby resulting in low accuracy of the acquired three-dimensional scanning data. Summary of the invention

[0005] In view of this, it is necessary to provide a real-time compensation method, device, equipment and storage medium for camera parameters to solve the technical problem in the prior art that the camera extrinsic parameters change due to temperature changes, thereby resulting in low accuracy of the acquired three-dimensional scanning data.

[0006] In one aspect, the present invention provides a camera parameter real-time compensation method, which is used to compensate the camera parameters of a binocular camera in a three-dimensional scanning system in real time based on a plurality of temperature sensors arranged on the three-dimensional scanning system, and the camera parameter real-time compensation method comprises:

[0007] Acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in the plurality of temperature sensors during an initial calibration process of the camera parameters;

[0008] Acquire a real-time temperature value of the temperature sensor, and determine whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value;

[0009] When the initial calibration camera parameters need to be compensated, camera compensation parameters are determined based on the real-time temperature value.

[0010] In some possible implementations, the determining whether the initial calibration camera parameter needs to be compensated based on the initial temperature value and the real-time temperature value includes:

[0011] Determine whether the real-time temperature value is greater than or equal to a low temperature threshold and whether the real-time temperature is less than or equal to a high temperature threshold;

[0012] When the real-time temperature value is greater than or equal to the low temperature threshold and the real-time temperature is less than or equal to the high temperature threshold, determining whether the difference between the real-time temperature value and the initial temperature value is greater than a preset difference;

[0013] When the difference between the real-time temperature value and the initial temperature value is greater than a preset difference, the initial calibration camera parameters need to be compensated.

[0014] In some possible implementations, determining a camera compensation parameter based on the real-time temperature value includes:

[0015] dividing the initial calibration camera parameters into a plurality of multi-segment initial calibration camera sub-parameters based on the number of the plurality of temperature sensors;

[0016] Determining, based on the real-time temperature value, a plurality of sections of camera compensation sub-parameters corresponding to the plurality of sections of initial calibration camera sub-parameters;

[0017] The camera compensation parameter is determined based on the multiple segments of camera compensation sub-parameters.

[0018] In some possible implementations, determining, based on the real-time temperature value and the multiple sections of initial calibration camera sub-parameters, multiple sections of camera compensation sub-parameters corresponding to the multiple sections of initial calibration camera sub-parameters includes:

[0019] determining a plurality of reference temperature values ​​based on the low temperature threshold and the high temperature threshold;

[0020] Determine a plurality of reference camera sub-parameters corresponding to each segment of the plurality of segments of the initial calibration camera sub-parameters based on the plurality of temperature reference values, and construct a mapping relationship between the plurality of temperature reference values ​​and the plurality of reference camera sub-parameters;

[0021] The reference camera sub-parameters of the initial calibration camera sub-parameters of each segment are determined based on the real-time temperature value and the mapping relationship, and the reference camera sub-parameters are used as the camera compensation sub-parameters of each segment.

[0022] In some possible implementations, determining, based on the real-time temperature value and the multiple sections of initial calibration camera sub-parameters, multiple sections of camera compensation sub-parameters corresponding to the multiple sections of initial calibration camera sub-parameters includes:

[0023] Determining sub-parameter change values ​​of the initial calibration camera sub-parameters in each segment based on a preset expansion coefficient model and the real-time temperature value;

[0024] The camera compensation sub-parameters of each segment are determined according to the initial calibration camera sub-parameters and the sub-parameter change values.

[0025] In some possible implementations, the camera compensation sub-parameters described in each paragraph are:

[0026] X si =X si0 +ΔX si

[0027] ΔX si =f(T i ,δ)*X si0

[0028] In the formula, X si is the camera compensation sub-parameter; X si0 is the initial calibration camera sub-parameter; ΔX si is the sub-parameter change value; f(T i ,δ) is the expansion coefficient model; T i is the real-time temperature value; δ is the expansion coefficient.

[0029] In some possible implementations, determining the camera compensation parameter based on the multiple camera compensation sub-parameters includes:

[0030] Determining a weight of each segment of camera compensation sub-parameters in the plurality of segments of camera compensation sub-parameters;

[0031] The camera compensation parameter is determined according to the weight and the camera compensation sub-parameter.

[0032] On the other hand, the present invention further provides a camera parameter real-time compensation device, which is used to compensate the camera parameters of a binocular camera in a three-dimensional scanning system in real time based on a plurality of temperature sensors arranged on the three-dimensional scanning system, and the camera parameter real-time compensation device comprises:

[0033] An initial value acquisition unit, used to acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in the plurality of temperature sensors during an initial calibration process of the camera parameters;

[0034] a compensation judgment unit, configured to obtain a real-time temperature value of the temperature sensor, and judge whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value;

[0035] A compensation parameter determination unit is used to determine camera compensation parameters based on the real-time temperature value when the initial calibration camera parameters need to be compensated.

[0036] On the other hand, the present invention also provides an electronic device, including a memory and a processor, wherein:

[0037] The memory is used to store programs;

[0038] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the camera parameter real-time compensation method described in any one of the above implementations.

[0039] On the other hand, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the steps in the camera parameter real-time compensation method described in any of the above implementations.

[0040] The beneficial effect of adopting the above-mentioned embodiment is as follows: the real-time compensation method for camera parameters provided by the present invention obtains real-time temperature values ​​by means of multiple temperature sensors arranged on the three-dimensional scanning system, and when the initial calibration camera parameters need to be compensated, the camera compensation parameters are determined based on the real-time temperature values, thereby realizing compensation for the initial calibration camera parameters, so that the three-dimensional scanning system can ensure scanning accuracy at different temperatures, thereby ensuring the accuracy of the scanning data obtained by the three-dimensional scanning system.

[0041] Furthermore, the present invention dynamically obtains the real-time temperature value and compensates the initial calibration camera parameters under the real-time temperature value. There is no need to pause the scanning and recalibrate after the accuracy decreases due to the influence of temperature during the scanning process. This saves compensation time and is more in line with the increasingly complex automation work scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A schematic flow chart of an embodiment of the camera parameter real-time compensation method provided by the present invention;

[0044] Figure 2 A schematic diagram of the structure of an embodiment of the three-dimensional scanning system provided by the present invention;

[0045] Figure 3 For the present invention Figure 1 A schematic flow chart of an embodiment of S102;

[0046] Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of S103;

[0047] Figure 5 For the present invention Figure 4 A schematic flow chart of an embodiment of S402;

[0048] Figure 6 For the present invention Figure 4 Another embodiment of S402 is a flowchart of FIG.

[0049] Figure 7 For the present invention Figure 4 A schematic flow chart of an embodiment of S403;

[0050] Figure 8 A schematic structural diagram of an embodiment of a camera parameter real-time compensation device provided by the present invention;

[0051] Fig. 9 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0053] In the description of the embodiments of the present invention, "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0054] It should be understood that the schematic drawings are not drawn to scale. The flow chart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flow chart can be implemented out of order, and the steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flow chart under the guidance of the content of the present invention, and can also remove one or more operations from the flow chart.

[0055] Some of the block diagrams shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0056] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0057] Embodiments of the present invention provide a camera parameter real-time compensation method, apparatus, device and storage medium, which are described below respectively.

[0058] Figure 1 A schematic flow chart of an embodiment of the method for real-time compensation of camera parameters provided by the present invention is shown in FIG. Figure 2 A schematic diagram of the structure of an embodiment of the three-dimensional scanning system provided by the present invention is shown as follows: Figure 1-Figure 2 As shown, the camera parameter real-time compensation method is used to compensate the camera parameters of the binocular camera 11 in the three-dimensional scanning system 10 in real time based on a plurality of temperature sensors 20 provided on the three-dimensional scanning system 10. The camera parameter real-time compensation method includes:

[0059] S101, obtaining initial calibration camera parameters and initial temperature values ​​of each temperature sensor 20 in a camera parameter initial calibration process;

[0060] S102, obtaining a real-time temperature value of the temperature sensor 20, and determining whether initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value;

[0061] S103: When the initial calibration camera parameters need to be compensated, determine the camera compensation parameters based on the real-time temperature value.

[0062] Compared with the prior art, the real-time compensation method for camera parameters provided in the embodiment of the present invention obtains real-time temperature values ​​by means of multiple temperature sensors 20 arranged on the three-dimensional scanning system 10, and determines camera compensation parameters based on the real-time temperature values ​​when compensation is required for the initial calibration camera parameters, thereby compensating for the initial calibration camera parameters, so that the three-dimensional scanning system 10 can ensure scanning accuracy at different temperatures, thereby ensuring the accuracy of the scanning data obtained by the three-dimensional scanning system.

[0063] Furthermore, the embodiments of the present invention dynamically obtain the real-time temperature value and compensate the initial calibration camera parameters under the real-time temperature value. There is no need to pause the scanning and recalibrate after the accuracy decreases due to the influence of temperature during the scanning process. This saves compensation time and is more in line with the increasingly complex automation work scenarios.

[0064] It should be noted that the number of temperature sensors 20 can be adjusted according to the distance between the binocular cameras 11 and the compensation accuracy in the three-dimensional scanning system 10. For example, when the distance between the binocular cameras 11 is large and / or the compensation accuracy requirement is high, the number of temperature sensors 20 can be increased accordingly, and when the distance between the binocular cameras 11 is small and / or the compensation accuracy is low, the number of temperature sensors can be reduced accordingly.

[0065] In a specific embodiment of the present invention, Figure 2 As shown, the number of the temperature sensors 20 is 5, which are respectively A , O B , O C , O D and O E Among them, O A Set on the left camera 111, O E Set on the right camera 112, O C Set on the projector 12, O B Set between the left camera 111 and the projector 12, D It is disposed between the right camera 112 and the projector 12 .

[0066] It should also be noted that the camera parameters in the embodiment of the present invention include but are not limited to the baseline length. Specifically, the baseline length refers to the length between the center point of the left camera 111 and the center point of the right camera 112.

[0067] It should be further explained that the three-dimensional scanning system includes a tracker unit and a scanning unit, both of which include a binocular camera, and both need to compensate for the baseline length of the binocular camera. That is: Figure 2 The binocular camera 11 in the tracking unit may be a binocular camera in a tracker unit or a scanning unit.

[0068] In some embodiments of the present invention, Figure 3 As shown, step S102 includes:

[0069] S301, determining whether the real-time temperature value is greater than or equal to a low temperature threshold and whether the real-time temperature is less than or equal to a high temperature threshold;

[0070] S302: when the real-time temperature value is greater than or equal to the low temperature threshold and the real-time temperature is less than or equal to the high temperature threshold, determine whether the difference between the real-time temperature value and the initial temperature value is greater than a preset difference;

[0071] S303: When the difference between the real-time temperature value and the initial temperature value is greater than a preset difference, the initial calibration camera parameters need to be compensated.

[0072] It should be understood that the temperature range between the low temperature threshold and the high temperature threshold is the temperature range in which the three-dimensional scanning system 10 can operate normally, which can be adjusted according to the actual application scenario. In a specific embodiment of the present invention, the low temperature threshold is -25°C and the high temperature threshold is 120°C.

[0073] The embodiment of the present invention sets the initial calibration camera parameters to be compensated only when the difference between the real-time temperature value and the initial temperature value is greater than the preset difference, instead of judging that compensation is required when the real-time temperature value and the initial temperature value are different. This takes into account the actual situation that when the temperature value changes slightly, the impact on the camera parameters is not significant. This can ensure the accuracy of the compensation for the camera parameters while reducing the compensation workload.

[0074] For large workpieces and complex working environments, the 3D scanning system 10 needs to perform long-term continuous scanning of workpiece objects that are several meters or more than ten meters long, that is, the camera parameters such as the baseline length are very long, and the compensation values ​​at different positions of the baseline length are different. Therefore, in order to further improve the compensation accuracy, in some embodiments of the present invention, such as Figure 4 As shown, step S103 includes:

[0075] S401, dividing the initial calibration camera parameters into a plurality of multi-segment initial calibration camera sub-parameters based on the number of the plurality of temperature sensors 20;

[0076] S402, determining a plurality of camera compensation sub-parameters corresponding to the plurality of initial calibration camera sub-parameters based on the real-time temperature value;

[0077] S403: Determine camera compensation parameters based on the multiple camera compensation sub-parameters.

[0078] The embodiment of the present invention divides the initial calibration camera parameters into multiple sections of initial calibration camera sub-parameters based on the number of temperature sensors 20, and compensates each section of the initial calibration camera sub-parameters to obtain camera compensation parameters, thereby improving the accuracy of the obtained camera compensation parameters.

[0079] It should be noted that each section of the initial calibration camera sub-parameters should include at least one temperature sensor 20 to ensure compensation for each section of the initial calibration camera sub-parameters.

[0080] In a specific embodiment of the present invention, Figure 2As shown, the total length of the baseline is X S Based on the five temperature sensors 20, the baseline length is divided into five baseline sub-lengths, which are X SA , X SB , X SC , X SD and X SE Compensate the five baseline sub-lengths respectively to obtain five baseline compensation lengths, and then obtain the total baseline step length X according to the five compensation lengths. S .

[0081] In some embodiments of the present invention, Figure 5 As shown, step S402 includes:

[0082] S501, determining a plurality of reference temperature values ​​based on a low temperature threshold and a high temperature threshold;

[0083] S502, determining a plurality of reference camera sub-parameters corresponding to each segment of the initial calibration camera sub-parameters in the plurality of segments of the initial calibration camera sub-parameters based on the plurality of temperature reference values, and constructing a mapping relationship between the plurality of temperature reference values ​​and the plurality of reference camera sub-parameters;

[0084] S503: Determine reference camera sub-parameters of each segment of initial calibration camera sub-parameters based on the real-time temperature value and the mapping relationship, and use the reference camera sub-parameters as the camera compensation sub-parameters of each segment.

[0085] It should be understood that the number of reference temperature values ​​should also be set according to the compensation accuracy. The more the number of reference temperature values, the higher the compensation accuracy.

[0086] It should be noted that the mapping relationship can be stored in a configuration file or a database, and when needed, it can be called from the configuration file or the database to obtain the compensation sub-parameters of each camera segment.

[0087] Since the camera compensation sub-parameters of each segment are obtained by the method of steps S501 to S503, a mapping relationship needs to be established first, that is, the reference camera sub-parameters at each temperature value need to be calibrated, and the amount of preparatory work is relatively large. In order to solve this technical problem, in some embodiments of the present invention, such as Figure 6 As shown, step S402 may further include:

[0088] S601, determining sub-parameter change values ​​of each section of initial calibration camera sub-parameters based on a preset expansion coefficient model and a real-time temperature value;

[0089] S602: Determine compensation sub-parameters for each camera segment according to the initial calibration camera sub-parameters and sub-parameter change values.

[0090] The embodiment of the present invention does not need to calibrate the reference camera sub-parameters at each temperature value, and the compensation sub-parameters of each section of the camera can be determined according to the real-time temperature value obtained in real time, so the initial workload is small.

[0091] Among them, steps S501-S503 and steps S601-S602 provide two different methods for determining the compensation sub-parameters of each camera segment. In actual application, they can be selected according to needs, thereby increasing the diversity of methods for determining the compensation sub-parameters of each camera segment.

[0092] In a specific embodiment of the present invention, the compensation sub-parameters of each camera segment are:

[0093] X si =X si0 +ΔX si (i=A,B,C,D,E)

[0094] ΔX si =f(T i ,δ)*X si0

[0095] Where, X si is the camera compensation sub-parameter; X si0 is the initial calibration camera sub-parameter; ΔX si is the sub-parameter change value; f(T i ,δ) is the expansion coefficient model; T i is the real-time temperature value; δ is the expansion coefficient.

[0096] In some embodiments of the present invention, Figure 7 As shown, step S403 includes:

[0097] S701, determining the weight of each segment of camera compensation sub-parameters in a plurality of segments of camera compensation sub-parameters;

[0098] S702: Determine camera compensation parameters according to the weights and camera compensation sub-parameters.

[0099] In a specific embodiment of the present invention, the weight of each segment of camera compensation sub-parameter is 1.

[0100] It should be understood that after determining the camera compensation parameters, the camera compensation parameters can be used to calculate a more accurate rotation and translation matrix from the scanning coordinate system to the tracker coordinate system under the real-time temperature value, and the scanning data of the object to be scanned in the tracking coordinate system can be obtained based on the rotation and translation matrix.

[0101] In order to better implement the camera parameter real-time compensation method in the embodiment of the present invention, based on the camera parameter real-time compensation method, the embodiment of the present invention also provides a camera parameter real-time compensation device, which is used to compensate the camera parameters of the binocular camera in the three-dimensional scanning system in real time based on multiple temperature sensors arranged on the three-dimensional scanning system, such as Figure 8 As shown, the camera parameter real-time compensation device 800 includes:

[0102] An initial value acquisition unit 801 is used to acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in a camera parameter initial calibration process;

[0103] A compensation judgment unit 802 is used to obtain a real-time temperature value of the temperature sensor, and judge whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value;

[0104] The compensation parameter determination unit 803 is used to determine the camera compensation parameters based on the real-time temperature value when the initial calibration camera parameters need to be compensated.

[0105] The camera parameter real-time compensation device 800 provided in the above embodiment can implement the technical solution described in the above embodiment of the camera parameter real-time compensation method. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above embodiment of the camera parameter real-time compensation method, which will not be repeated here.

[0106] like Fig. 9 As shown, the present invention also provides an electronic device 900. The electronic device 900 includes a processor 901, a memory 902 and a display 903. Fig. 9 Only some components of the electronic device 900 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0107] In some embodiments, the processor 901 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 902, such as the real-time camera parameter compensation method of the present invention.

[0108] In some embodiments, the processor 901 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 901 may be local or remote. In some embodiments, the processor 901 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.

[0109] In some embodiments, the memory 902 may be an internal storage unit of the electronic device 900, such as a hard disk or memory of the electronic device 900. In other embodiments, the memory 902 may also be an external storage device of the electronic device 900, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 900.

[0110] Furthermore, the memory 902 may include both an internal storage unit of the electronic device 900 and an external storage device. The memory 902 is used to store application software installed in the electronic device 900 and various data.

[0111] In some embodiments, the display 903 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 903 is used to display information on the electronic device 900 and to display a visual user interface. The components 901-903 of the electronic device 900 communicate with each other via a system bus.

[0112] In some embodiments of the present invention, when the processor 901 executes the camera parameter real-time compensation program in the memory 902, the following steps may be implemented:

[0113] Acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in a camera parameter initial calibration process;

[0114] Obtaining the real-time temperature value of the temperature sensor, and judging whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value;

[0115] When the initial calibration camera parameters need to be compensated, the camera compensation parameters are determined based on the real-time temperature value.

[0116] It should be understood that: when the processor 901 executes the camera parameter real-time compensation program in the memory 902, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0117] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 900 mentioned, and the electronic device 900 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic device may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 900 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0118] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the real-time compensation method for camera parameters provided in the above-mentioned method embodiments can be implemented.

[0119] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0120] The above is a detailed introduction to the camera parameter real-time compensation method, device, equipment and storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A camera parameter real-time compensation method, characterized in that: The method is used to compensate the camera parameters of a binocular camera in the three-dimensional scanning system in real time based on a plurality of temperature sensors arranged on the three-dimensional scanning system, and the camera parameter real-time compensation method comprises: Acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in the plurality of temperature sensors during an initial calibration process of the camera parameters; Acquire a real-time temperature value of the temperature sensor, and determine whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value; When the initial calibration camera parameter needs to be compensated, the camera compensation parameter is determined based on the real-time temperature value; the initial calibration camera parameter is the baseline length; the baseline length is the line connecting the center points of the left camera and the right camera; The determining of the camera compensation parameter based on the real-time temperature value comprises: dividing the initial calibration camera parameters into a plurality of initial calibration camera sub-parameters based on the number of the plurality of temperature sensors; Determining, based on the real-time temperature value, a plurality of sections of camera compensation sub-parameters corresponding to the plurality of sections of initial calibration camera sub-parameters; The camera compensation parameter is determined based on the multiple segments of camera compensation sub-parameters.

2. The camera parameter real-time compensation method according to claim 1, characterized in that: The determining whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value includes: Determine whether the real-time temperature value is greater than or equal to a low temperature threshold and whether the real-time temperature is less than or equal to a high temperature threshold; When the real-time temperature value is greater than or equal to the low temperature threshold and the real-time temperature is less than or equal to the high temperature threshold, determining whether the difference between the real-time temperature value and the initial temperature value is greater than a preset difference; When the difference between the real-time temperature value and the initial temperature value is greater than a preset difference, the initial calibration camera parameters need to be compensated.

3. The camera parameter real-time compensation method according to claim 2, characterized in that: The determining, based on the real-time temperature value and the multiple sections of initial calibration camera sub-parameters, multiple sections of camera compensation sub-parameters corresponding to the multiple sections of initial calibration camera sub-parameters comprises: determining a plurality of temperature reference values ​​based on the low temperature threshold and the high temperature threshold; Determine a plurality of reference camera sub-parameters corresponding to each segment of the plurality of segments of the initial calibration camera sub-parameters based on the plurality of temperature reference values, and construct a mapping relationship between the plurality of temperature reference values ​​and the plurality of reference camera sub-parameters; The reference camera sub-parameters of the initial calibration camera sub-parameters of each segment are determined based on the real-time temperature value and the mapping relationship, and the reference camera sub-parameters are used as the camera compensation sub-parameters of each segment.

4. The camera parameter real-time compensation method according to claim 2, characterized in that: The determining, based on the real-time temperature value and the multiple sections of initial calibration camera sub-parameters, multiple sections of camera compensation sub-parameters corresponding to the multiple sections of initial calibration camera sub-parameters comprises: Determining sub-parameter change values ​​of the initial calibration camera sub-parameters in each segment based on a preset expansion coefficient model and the real-time temperature value; The camera compensation sub-parameters of each segment are determined according to the initial calibration camera sub-parameters and the sub-parameter change values.

5. The camera parameter real-time compensation method according to claim 4, characterized in that: The camera compensation sub-parameters described in each paragraph are: In the formula, Compensating sub-parameters for the camera; for the initial calibration of camera sub-parameters; is the sub-parameter change value; is the expansion coefficient model; is the real-time temperature value; is the expansion coefficient.

6. The camera parameter real-time compensation method according to claim 1, characterized in that: The determining the camera compensation parameter based on the multiple camera compensation sub-parameters includes: Determining a weight of each segment of camera compensation sub-parameters in the plurality of segments of camera compensation sub-parameters; The camera compensation parameter is determined according to the weight and the camera compensation sub-parameter.

7. A camera parameter real-time compensation device, characterized in that: The device is used to perform real-time compensation on camera parameters of a binocular camera in a three-dimensional scanning system based on a plurality of temperature sensors arranged on the three-dimensional scanning system, wherein the real-time compensation device for camera parameters comprises: An initial value acquisition unit, used to acquire initial calibration camera parameters and initial temperature values ​​of each temperature sensor in the plurality of temperature sensors during an initial calibration process of the camera parameters; a compensation judgment unit, configured to obtain a real-time temperature value of the temperature sensor, and judge whether the initial calibration camera parameters need to be compensated based on the initial temperature value and the real-time temperature value; A compensation parameter determination unit, configured to determine a camera compensation parameter based on the real-time temperature value when the initial calibration camera parameter needs to be compensated; the initial calibration camera parameter is a baseline length; the baseline length is a line connecting the center points of the left camera and the right camera; The determining of the camera compensation parameter based on the real-time temperature value comprises: dividing the initial calibration camera parameters into a plurality of initial calibration camera sub-parameters based on the number of the plurality of temperature sensors; Determining, based on the real-time temperature value, a plurality of sections of camera compensation sub-parameters corresponding to the plurality of sections of initial calibration camera sub-parameters; The camera compensation parameter is determined based on the multiple segments of camera compensation sub-parameters.

8. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the camera parameter real-time compensation method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the camera parameter real-time compensation method described in any one of claims 1 to 6.

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