Light field camera spatial position calibration method, device, equipment and storage medium
By using a montage-based light field camera calibration method, the problems of low calibration accuracy and incorrect correspondence of light field cameras are solved, achieving efficient and accurate multi-camera spatial position calibration and improving calibration accuracy and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- META-RETINA (BEIJING) TECH CO LTD
- Filing Date
- 2022-05-30
- Publication Date
- 2026-06-02
AI Technical Summary
In existing technologies, light field camera calibration accuracy is low and correspondence errors are prone to occur, especially in multi-camera systems where efficient and accurate spatial position calibration is difficult to achieve.
A montage-based calibration method is adopted. By acquiring light field images captured by a light field camera, the image units are rearranged to form montages from different perspectives, and the positions of the light field images are adjusted until the light distribution is uniform, thereby calibrating the light field camera in the target coordinate system.
It improves the accuracy and efficiency of light field camera calibration, reduces the error rate, and enables the calibration of multiple cameras at once, meeting the requirement of high-precision world coordinate system coincidence.
Smart Images
Figure CN115205392B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of image processing technology, and in particular to a method, apparatus, device and storage medium for spatial position calibration of a light field camera. Background Technology
[0002] Camera calibration can define all cameras in a generalized multi-camera light field system under the same coordinate system. Therefore, camera calibration plays the most important role in any multi-camera system.
[0003] Multi-camera depth measurement, LiDAR-camera system joint ranging, light field camera refocusing, non-line-of-sight 3D reconstruction based on multiple detectors, and 3D reconstruction of scenes—all problems utilizing multiple cameras to accomplish the same task are based on the same assumption: all cameras or detectors operate in the same world coordinate system. The 2D signal of a pixel at position (x,y) detected by each individual camera can be traced to a corresponding point in the 2D world coordinate system and a corresponding ray in the 3D world coordinate system, and the response of this corresponding point or ray is consistent across multiple cameras. Therefore, camera calibration aims to find the correspondence within this multi-camera system, ensuring that the entire system is spatially self-consistent.
[0004] In related technologies, calibration can be performed by combining the aperture characteristics of the microlens itself with image recognition, i.e., using white image calibration. However, its accuracy is relatively low, and it may encounter problems such as incorrect correspondences, field curvature, and vignetting in the light field, which still need to be addressed. Summary of the Invention
[0005] This application provides a method, apparatus, electronic device, and storage medium for spatial position calibration of a light field camera. It can calibrate the spatial position of a light field camera based on montage, which is simple to operate, has a low error rate, improves calibration accuracy, and can calibrate multiple cameras simultaneously.
[0006] The first aspect of this application provides a spatial position calibration method for a light field camera, comprising the following steps: acquiring a light field image captured by the light field camera; rearranging the image units in the light field image to obtain a montage composed of different viewpoints; adjusting the current position of the light field image to a target position in a target coordinate system; obtaining the calibration position of the light field camera in the target coordinate system when the brightness distribution of the montage composed of different viewpoints is detected to be uniform; and readjusting the current position of the light field image until the brightness distribution of the montage composed of different viewpoints is uniform when the brightness distribution of the montage composed of different viewpoints is detected to be non-uniform.
[0007] Optionally, before detecting that the brightness distribution of the montage composed of different viewpoints is uniform, the method includes: determining whether the light intensity of all image units in the montage is relatively consistent, and determining whether the image units fill the entire field of view of the montage; if the light intensity of all image units in the montage is relatively consistent, and the image units fill the entire field of view of the montage, then the brightness distribution of the montage is determined to be uniform; otherwise, the brightness distribution of the montage is determined to be non-uniform.
[0008] Optionally, adjusting the current position of the light field image to the target position in the target coordinate system includes: obtaining the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; and adjusting the first to fourth target points from the current position corresponding to the coordinates in the light field camera coordinate system to the target position corresponding to the coordinates in the target coordinate system.
[0009] Optionally, the direction distribution of the light vector field in the light field image is uniform.
[0010] A second aspect of this application provides a spatial position calibration device for a light field camera, comprising: an acquisition module for acquiring a light field image captured by the light field camera; an arrangement module for rearranging image units in the light field image to obtain a montage composed of different viewpoints; and a detection module for adjusting the current position of the light field image to a target position in a target coordinate system, obtaining the calibration position of the light field camera in the target coordinate system when the brightness distribution of the montage composed of different viewpoints is detected to be uniform, and readjusting the current position of the light field image when the brightness distribution of the montage composed of different viewpoints is detected to be uneven until the brightness distribution of the montage composed of different viewpoints is uniform.
[0011] Optionally, the detection module is further configured to: determine whether the light intensity before all image units in the montage is relatively consistent, and determine whether the image units fill the entire field of view of the montage; if the light intensity before all image units in the montage is relatively consistent, and the image units fill the entire field of view of the montage, then the brightness distribution of the montage is determined to be uniform; otherwise, the brightness distribution of the montage is determined to be uneven.
[0012] Optionally, the arrangement module is further configured to: obtain the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; and adjust the first to fourth target points from their current positions corresponding to the coordinates in the light field camera coordinate system to their target positions corresponding to the coordinates in the target coordinate system.
[0013] Optionally, the direction distribution of the light vector field in the light field image is uniform.
[0014] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the spatial position calibration method for a light field camera as described in the above embodiments.
[0015] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the spatial position calibration method for a light field camera as described in the above embodiments.
[0016] Therefore, this application has at least the following beneficial effects:
[0017] The spatial position of a light field camera can be calibrated based on montage images. The calibration method is simple; calibration is completed by taking a single image of a white scene using the light field camera, ensuring that the (x,y) coordinates in each sub-aperture image of the light field camera are paired and unified. In this embodiment, the montage image can be directly used for visual judgment with a low probability of error. It can also be used for closed-loop judgment; the judgment rule is that if the intensity of the montage image is uniform across each sub-aperture, it can be determined that the light field system has been accurately aligned with the world coordinate system. Furthermore, multiple cameras can be calibrated simultaneously, improving calibration efficiency.
[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0020] Figure 1 This is a flowchart of a method for spatial position calibration of a light field camera according to an embodiment of this application;
[0021] Figure 2 A schematic diagram illustrating the rearrangement of a montage image from a light field image according to an embodiment of this application;
[0022] Figure 3 This is a preliminary calibration diagram corresponding to the optical field aperture provided in the embodiments of this application;
[0023] Figure 4 This is a uniform montage image after fine-tuning the corresponding aperture according to the embodiments of this application;
[0024] Figure 5 This is an example diagram of a spatial position calibration device for a light field camera provided according to an embodiment of this application;
[0025] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation
[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0027] In the calibration system described in the background art, checkerboard camera calibration and multi-camera spatial fixed-point calibration are generally used in related technologies, as follows:
[0028] (1) Checkerboard camera calibration
[0029] The checkerboard camera calibration method refers to the following: two cameras simultaneously take multiple photos of a checkerboard pattern, where each checkerboard square is typically 10mm-100mm in size. When multiple squares are captured by these two cameras at the same time, this checkerboard calibration method can calculate the correspondence between these two sets of squares to obtain the correspondence between the two cameras in the world coordinate system.
[0030] The advantage of this method is that the calibration accuracy is relatively high. With the use of high-precision calibration plates and the increase of samples, the calibration accuracy can be improved. For example, under normal circumstances, the accuracy of existing industrial-grade printers when using printed checkerboard patterns can reach 200 micrometers or even lower; when using checkerboard patterns with glass plates, the accuracy can reach 20 micrometers or even lower.
[0031] However, the biggest drawback of this method is that it cannot perform multi-camera calibration. If there are multiple cameras in the system, calibration must be performed between every two cameras, making the calibration process extremely cumbersome as the number of cameras increases. Furthermore, each calibration will crop the final calibration image, which will result in a loss of resolution. When the number of cameras increases to a certain extent, the calibration of the entire system may eventually lead to a loss of all resolutions. In other words, this multi-camera system cannot find the world coordinate system correspondence for all cameras.
[0032] In summary, this checkerboard camera calibration method is well-suited for binocular camera systems. Binocular systems are the simplest multi-camera light field systems, in which only two cameras are placed in parallel, and the two cameras are generally spaced a certain distance apart, ranging from 5cm to 500cm. Because binocular systems have a relatively small number of cameras, they are generally used for applications such as coarse depth estimation. Therefore, the checkerboard camera calibration method is applicable to the calibration of binocular camera calibration systems.
[0033] (2) Multi-camera spatial point calibration
[0034] Multi-camera spatial calibration is widely used in 3D reconstruction applications. A typical scenario involves multiple cameras capturing images around a central area, from which a 3D reconstruction is performed. To ensure consistency between the coordinate systems of all cameras and the global coordinate system, multi-camera spatial calibration typically uses a standard-distance 3D fluorescent sphere placed at the center of the reconstruction field, and then all cameras capture images of it. The fluorescent spheres are approximately 1 cm in diameter and are placed at intervals of 10-30 cm along the x, y, and z directions. At this point, the spatial position of each sphere in the world coordinate system is clearly known. When all cameras capture images, this known spatial position is mapped onto the cameras, thus revealing the relationship between each camera and the world coordinate system.
[0035] The advantage of this calibration method is that multiple cameras can be calibrated simultaneously, and the calibration calculation for each camera can be performed concurrently without needing to calculate the positional transformations between cameras. However, the disadvantages of this method are low calibration accuracy. Since the size of each fluorescent sphere is affected by lighting conditions, its definition in the world coordinate system is inaccurate. Furthermore, multi-camera spatial point calibration generally requires multiple cameras to be calibrated around a scene, making it impossible to calibrate multiple cameras facing the same direction. The calibration range for the reconstructed field is also very limited (3cm-10m).
[0036] Therefore, this application proposes a calibration method based on montage, which is a method for calibrating the spatial position of a light field camera. A light field camera is a special type of camera that uses a microlens array to decouple images generated by multiple sub-apertures. Each sub-aperture is equivalent to one of the multiple cameras in a multi-camera spatial positioning calibration method. Generally, 3x3 to 21x21 sub-aperture images can be obtained, equivalent to 9 to 441 cameras facing the same direction, with the reconstructed field size ranging from 5m to 500m. Because all cameras face the same direction and the reconstructed field is relatively large, method (2) cannot be used for calibration; and because the number of cameras is too large, method (1) also cannot be used for calibration. In related technologies, calibration can be performed by combining the aperture characteristics of the microlens with image recognition, i.e., using the white image calibration method. However, its accuracy is relatively low, and it may cause problems such as field curvature and vignetting in the light field, which still need to be solved.
[0037] The spatial position calibration method, apparatus, electronic device, and storage medium of the light field camera according to embodiments of this application will now be described with reference to the accompanying drawings. Specifically... Figure 1This is a schematic flowchart illustrating a spatial position calibration method for a light field camera provided in an embodiment of this application.
[0038] like Figure 1 As shown, the spatial position calibration method for this light field camera includes the following steps:
[0039] In step S101, the light field image captured by the light field camera is obtained.
[0040] In the light field image, the direction of the light vector field is uniformly distributed.
[0041] It should be noted that, during the calibration process, this application embodiment can assume that the camera itself is a precision instrument, and that the camera's pixel size is on the micrometer scale, while the lens's imaging difference is on the micrometer or even hundreds of nanometer scale. Therefore, its spatial mapping relationship is highly accurate. In the light field system, every 3x3 to 15x15 pixels form a unit. Each pixel in this unit corresponds to a ray in a specific direction in the light field. Therefore, the image of the entire light field can be considered as a vector field composed of rays. The position of each pixel represents a specific vector direction, and the intensity of each pixel represents the light intensity in that vector direction.
[0042] It is understood that at the start of calibration, this embodiment of the application can capture a single-color image, such as a pure white image, using a light field camera. At this time, it is assumed that each pixel receives the same energy, and since the distribution of each pixel in the camera is uniform, the size tolerance on the image sensor chip is very small, reaching the nanometer level, and the spatial error between pixels is almost negligible. Therefore, the directional distribution of the light vector field captured by this embodiment of the application is also extremely uniform.
[0043] In step S102, the image units in the light field image are rearranged to obtain a montage composed of different viewpoints.
[0044] The target coordinate system and target position can be specifically set according to the actual situation, and there are no specific limitations on them; the target coordinate system can be the world coordinate system, etc., and in the following embodiments, the target coordinate system is the world coordinate system as an example for illustration.
[0045] It is understandable that, since the uniform vector field obtained in step S101 is usually not aligned with the world coordinate system, and may exhibit corresponding deviations due to issues such as vignetting, this embodiment of the application can first roughly adjust the uniform vector field to obtain a montage composed of different viewpoints; wherein, such as Figure 2 As shown, a montage is composed of rearranging all the image units to become the perspective of each camera.
[0046] In step S103, the current position of the light field image is adjusted to the target position in the target coordinate system. When the brightness distribution of the montage image composed of different viewpoints is detected to be uniform, the calibration position of the light field camera in the target coordinate system is obtained. When the brightness distribution of the montage image composed of different viewpoints is detected to be uneven, the current position of the light field image is readjusted until the brightness distribution of the montage image composed of different viewpoints is uniform.
[0047] It is understandable that after the image units of the obtained light field image are rearranged to generate a montage, the image may exhibit corresponding deviations due to problems such as vignetting; and if vignetting deviations occur, uneven brightness distribution will appear at a certain viewpoint in the obtained montage. Therefore, in this embodiment, the calibration is considered complete when the brightness distribution of the obtained montage is uniform across different viewpoints, and the calibration position of the light field camera in the target coordinate system is obtained at this time; when the brightness is uneven, the montage is further adjusted to make the brightness distribution of the montage composed of different viewpoints uniform, and the calibration position of the light field camera in the target coordinate system is obtained at this time.
[0048] In this embodiment of the application, adjusting the current position of the light field image to the target position in the target coordinate system includes: obtaining the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; and adjusting the first to fourth target points from the current position corresponding to the coordinates in the light field camera coordinate system to the target position corresponding to the coordinates in the target coordinate system.
[0049] It should be noted that, in the above-mentioned preliminary adjustment of the light field image, the embodiments of this application can be adjusted in a variety of ways. For example, it can be adjusted by a manual corresponding leveling method, and the montage image can be directly judged by the naked eye, which effectively reduces the probability of error.
[0050] Specifically, such as Figure 3 As shown, the embodiments of this application have a total of eight degrees of freedom, corresponding to the x and y coordinates of four points: (x1,y1)(x2,y2)(x3,y3)(x4,y4). These are initially adjusted to be consistent with the corresponding points (wx1,wy1)(wx2,wy2)(wx3,wy3)(wx4,wy4) in the world coordinate system to obtain a montage composed of different perspectives.
[0051] In this embodiment of the application, before detecting that the brightness distribution of the montage image composed of different viewpoints is uniform, the method includes: determining whether the light intensity of all image units in the montage image is relatively consistent, and determining whether the image units fill the entire field of view of the montage image; if the light intensity of all image units in the montage image is relatively consistent, and the image units fill the entire field of view of the montage image, then the brightness distribution of the montage image is determined to be uniform; otherwise, the brightness distribution of the montage image is determined to be non-uniform.
[0052] The uniformity of brightness in a montage image can be judged by the brightness intensity of each sub-unit image of the montage image. If the intensity of each sub-unit image of the entire montage image is relatively uniform, then the brightness distribution of the montage image can be considered uniform.
[0053] It is understood that the embodiments of this application can also adjust the montage image within a smaller range, that is, the embodiments of this application can adjust the image units of the montage image to make the intensity of each sub-unit image of the entire montage image uniform; the uniform montage image after the above-mentioned fine adjustment of the corresponding aperture can be as follows: Figure 4 As shown.
[0054] In summary, the embodiments of this application can calibrate the spatial position of a light field camera based on montage images. The calibration method is simple to operate, requiring only one white image image taken with the light field camera to complete the calibration, thus unifying the pairwise correspondence of the (x,y) coordinate systems in each sub-aperture image of the light field camera. The embodiments of this application can be directly judged visually using montage images, with a low probability of error; montage images can be used for closed-loop judgment, the judgment rule being that if the intensity of the montage image is uniform under each sub-aperture, it can be determined that the light field system has been highly aligned with the world coordinate system; and multiple cameras can be calibrated simultaneously, improving calibration efficiency.
[0055] The spatial position calibration method for a light field camera proposed in the embodiments of this application can calibrate the spatial position of the light field camera based on montage. It is simple to operate, has a low error rate, improves calibration accuracy, and can calibrate multiple cameras simultaneously, thereby improving calibration efficiency.
[0056] Next, the spatial position calibration device for a light field camera according to an embodiment of this application is described with reference to the accompanying drawings.
[0057] Figure 5 This is a block diagram of the spatial position calibration device of the light field camera according to an embodiment of this application.
[0058] like Figure 5 As shown, the spatial position calibration device 10 of the light field camera includes: an acquisition module 100, an arrangement module 200, and a detection module 300.
[0059] The acquisition module 100 is used to acquire the light field image captured by the light field camera; the arrangement module 200 is used to rearrange the image units in the light field image to obtain a montage composed of different viewpoints; the detection module 300 is used to adjust the current position of the light field image to the target position in the target coordinate system. When the brightness distribution of the montage composed of different viewpoints is detected to be uniform, the calibration position of the light field camera in the target coordinate system is obtained. When the brightness distribution of the montage composed of different viewpoints is detected to be uneven, the current position of the light field image is readjusted until the brightness distribution of the montage composed of different viewpoints is uniform.
[0060] In this embodiment of the application, the detection module 300 is further configured to: determine whether the light intensity before all image units in the montage is relatively consistent, and determine whether the image units fill the entire field of view of the montage; if the light intensity before all image units in the montage is relatively consistent, and the image units fill the entire field of view of the montage, then the brightness distribution of the montage is determined to be uniform; otherwise, the brightness distribution of the montage is determined to be uneven.
[0061] In this embodiment of the application, the arrangement module 200 is further configured to: obtain the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; and adjust the first to fourth target points from the current position corresponding to the coordinates in the light field camera coordinate system to the target position corresponding to the coordinates in the target coordinate system.
[0062] In the embodiments of this application, the direction distribution of the light vector field in the light field image is uniform.
[0063] It should be noted that the foregoing explanation of the spatial position calibration method embodiment for the light field camera also applies to the spatial position calibration device of the light field camera in this embodiment, and will not be repeated here.
[0064] The spatial position calibration device for a light field camera proposed in the embodiments of this application can calibrate the spatial position of the light field camera based on montage. It is simple to operate, has a low error rate, improves calibration accuracy, and can calibrate multiple cameras simultaneously.
[0065] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:
[0066] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.
[0067] When the processor 602 executes the program, it implements the spatial position calibration method for the light field camera provided in the above embodiments.
[0068] Furthermore, electronic devices also include:
[0069] Communication interface 603 is used for communication between memory 601 and processor 602.
[0070] The memory 601 is used to store computer programs that can run on the processor 602.
[0071] The memory 601 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.
[0072] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0073] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.
[0074] The processor 602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.
[0075] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for spatial position calibration of a light field camera.
[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0078] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.
[0079] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.
[0080] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
Claims
1. A method for spatial position calibration of a light field camera, characterized in that, Includes the following steps: Acquire light field images captured by a light field camera; By rearranging the image units in the light field image, a montage composed of different viewpoints is obtained; as well as Adjust the current position of the light field image to the target position in the target coordinate system. When the brightness distribution of the montage image composed of different viewpoints is detected to be uniform, the calibration position of the light field camera in the target coordinate system is obtained. When the brightness distribution of the montage image composed of different viewpoints is detected to be uneven, readjust the current position of the light field image until the brightness distribution of the montage image composed of different viewpoints is uniform. Before detecting uniformity of the brightness distribution in the montage image composed of the different viewpoints, the process includes: Determine whether the light intensity of all image units in the montage is relatively consistent, and determine whether the image units fill the entire field of view of the montage; If the light intensity of all image units in the montage is relatively consistent and the image units fill the entire field of view of the montage, then the light distribution of the montage is determined to be uniform; otherwise, the light distribution of the montage is determined to be uneven.
2. The method according to claim 1, characterized in that, Adjusting the current position of the light field image to the target position in the target coordinate system includes: Obtain the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; The first to fourth target points are respectively adjusted from their current positions in the light field camera coordinate system to their target positions in the target coordinate system.
3. The method according to any one of claims 1-2, characterized in that, The light vector field in the light field image is uniformly distributed in direction.
4. A spatial position calibration device for a light field camera, characterized in that, The spatial position calibration device for the light field camera is used to implement the spatial position calibration method for the light field camera as described in any one of claims 1-3, including: The acquisition module is used to acquire light field images captured by the light field camera; The arrangement module is used to rearrange the image units in the light field image to obtain a montage composed of different viewpoints; and The detection module is used to adjust the current position of the light field image to the target position in the target coordinate system. When the brightness distribution of the montage image composed of different viewpoints is detected to be uniform, the calibration position of the light field camera in the target coordinate system is obtained. When the brightness distribution of the montage image composed of different viewpoints is detected to be uneven, the current position of the light field image is readjusted until the brightness distribution of the montage image composed of different viewpoints is uniform.
5. The apparatus according to claim 4, characterized in that, The detection module is further used for: Determine whether the light intensity of all image units in the montage is relatively consistent, and determine whether the image units fill the entire field of view of the montage; If the light intensity of all image units in the montage is relatively consistent and the image units fill the entire field of view of the montage, then the light distribution of the montage is determined to be uniform; otherwise, the light distribution of the montage is determined to be uneven.
6. The apparatus according to claim 4, characterized in that, The arrangement module is further used for: Obtain the coordinates of the first to fourth target points in the light field image in the light field camera coordinate system and the target coordinate system; The first to fourth target points are respectively adjusted from their current positions in the light field camera coordinate system to their target positions in the target coordinate system.
7. The apparatus according to any one of claims 4-6, characterized in that, The light vector field in the light field image is uniformly distributed in direction.
8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the spatial position calibration method for a light field camera as described in any one of claims 1-3.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the spatial position calibration method for the light field camera as described in any one of claims 1-3.