Calibration verification method, calibration verification device and storage medium

Abstract

The present disclosure relates to a calibration verification method, a calibration verification device and a storage medium. The calibration verification method comprises: determining a calibration parameter of an image acquisition device; correcting the calibration parameter based on a first state value and a second state value, the first state value comprising state values corresponding to a focus sensor and an optical image stabilizer during acquisition of a calibration image, and the second state value comprising state values corresponding to the focus sensor and the optical image stabilizer during acquisition of a verification image; and performing calibration verification based on the corrected calibration parameter. The present disclosure can reduce errors in the calibration parameter and improve the accuracy of calibration verification.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of calibration, and in particular to a calibration verification method, a calibration verification device and a storage medium. BACKGROUND

[0002] With the continuous development of image acquisition device technology, the popularity rate of image acquisition devices is getting higher and higher, and users use image acquisition devices more and more frequently in daily life. As an important part of image acquisition devices, cameras, especially multi-lens cameras, play an indispensable role in more and more application scenarios.

[0003] From the related art, to ensure that the performance of the camera is fully played, an indispensable link is to calibrate the camera (also known as factory calibration). When factory calibration is performed, the calibration parameters need to be calibrated based on a calibration station, and the calibration results of the calibration station need to be verified by a calibration verification station. However, for cameras with auto-focusing and optical image stabilization functions, if the optical parameters of auto-focusing and optical image stabilization are inconsistent during calibration and calibration verification, the yield of the calibration verification station will be affected, and thus the production cost will be affected. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a calibration verification method, a calibration verification device and a storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a calibration verification method is provided, applied to an image acquisition device, comprising:

[0006] determining a calibration parameter of the image acquisition device; correcting the calibration parameter based on a first state value and a second state value, the first state value including state values corresponding to a focusing sensor and an optical image stabilizer (OIS) of the image acquisition device during acquisition of a calibration image, the second state value including state values corresponding to the focusing sensor and the OIS of the image acquisition device during acquisition of a verification image; and performing calibration verification based on the corrected calibration parameter.

[0007] In an implementation, correcting the calibration parameter based on the first state value and the second state value comprises: determining a first calibration correction parameter corresponding to the first state value, and a second calibration correction parameter corresponding to the second state value; and compensating the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain the corrected calibration parameter.

[0008] In an embodiment, the first state value comprises a first focus state value, the second state value comprises a second focus state value, and the calibration parameter comprises a calibration focal length parameter; determining the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value comprises: determining, based on a correspondence relationship curve between focus state values of the focus sensor and focal length parameters, the first focus state value and the second focus state value, and the first focal length parameter and the second focal length parameter, a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value.

[0009] In an embodiment, compensating, based on a difference between the first calibration correction parameter and the second calibration correction parameter, the calibration parameter to obtain a corrected calibration parameter comprises: compensating, based on a parameter value difference between the first focal length parameter value and the second focal length parameter value, the calibration focal length parameter to obtain a corrected calibration focal length parameter.

[0010] In an embodiment, the first state value comprises a first OIS state value, the second state value comprises a second OIS state value, and the calibration parameter comprises an optical axis projection on an optical center calibration parameter; determining the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value comprises: determining, based on a correspondence relationship curve between OIS state values and optical axis projection parameters on an optical center, the first OIS state value and the second OIS state value, and the first optical axis and the second optical axis, a first optical axis projection parameter on the optical center corresponding to the first OIS state value and a second optical axis projection parameter on the optical center corresponding to the second OIS state value. The first optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the first OIS state value, and the second optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the second OIS state value.

[0011] In an embodiment, compensating, based on a difference between the first calibration correction parameter and the second calibration correction parameter, the calibration parameter to obtain a corrected calibration parameter comprises: compensating, based on a parameter value difference between the first optical axis projection parameter on the optical center and the second optical axis projection parameter on the optical center, the optical axis projection on the optical center calibration parameter to obtain a corrected optical axis projection on the optical center calibration parameter.

[0012] According to a second aspect of the embodiments of the present disclosure, a calibration verification device is provided, which is applied to an image acquisition device and comprises:

[0013] The determining unit is configured to determine a calibration parameter of the image acquisition device; the correcting unit is configured to correct the calibration parameter based on a first state value and a second state value, the first state value including state values of a focus sensor and an optical image stabilizer (OIS) corresponding to the image acquisition device in a process of acquiring a calibration image, and the second state value including state values of the focus sensor and the OIS corresponding to the image acquisition device in a process of acquiring a verification image; and the verifying unit is configured to perform calibration verification based on the corrected calibration parameter.

[0014] In an implementation, the correcting unit corrects the calibration parameter based on the first state value and the second state value in the following manner: determines a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value; and compensates the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain the corrected calibration parameter.

[0015] In an implementation, the first state value includes a first focus state value, the second state value includes a second focus state value, and the calibration parameter includes a calibration focal length parameter; the correcting unit determines the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value in the following manner: based on a correspondence relationship curve between focus state values of the focus sensor and focal length parameters, the focus state values including the first focus state value and the second focus state value, and the focal length parameters including a first focal length parameter and a second focal length parameter, determines a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value.

[0016] In an implementation, the correcting unit compensates the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain the corrected calibration parameter in the following manner: compensates the calibration focal length parameter based on a parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected calibration focal length parameter.

[0017] In an implementation form, the first state value comprises a first OIS state value, the second state value comprises a second OIS state value, and the calibration parameter comprises an optical axis on optical center projection calibration parameter; the correction unit determines a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value in the following manner: based on a corresponding relationship curve between OIS state values and optical axis on optical center projection parameters, the OIS state values comprising the first OIS state value and the second OIS state value, and the optical axis comprising a first optical axis and a second optical axis, a first optical axis on optical center projection parameter corresponding to the first OIS state value and a second optical axis on optical center projection parameter corresponding to the second OIS state value are determined. The first optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the first OIS state value, and the second optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the second OIS state value.

[0018] In an implementation form, the correction unit compensates the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter in the following manner: based on a parameter value difference between the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter, the optical axis on optical center projection calibration parameter is compensated to obtain a corrected optical axis on optical center projection calibration parameter.

[0019] According to a third aspect of embodiments of the present disclosure, a calibration verification device is provided, comprising:

[0020] a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the calibration verification method in the first aspect or any one of the implementation forms of the first aspect.

[0021] According to a fourth aspect of embodiments of the present disclosure, a storage medium is provided, and the storage medium stores instructions. When the instructions in the storage medium are executed by a processor of an image acquisition device, the image acquisition device can execute the calibration verification method in the first aspect or any one of the implementation forms of the first aspect.

[0022] The technical scheme provided by the embodiment of the present disclosure can include the following beneficial effects: determining the calibration parameter of the image acquisition device, obtaining the state value corresponding to the focus sensor and the optical image stabilizer in the process of acquiring the calibration image, and obtaining the state value corresponding to the focus sensor and the optical image stabilizer in the process of acquiring the verification image. The calibration parameter is corrected by the obtained state value, and the calibration verification is performed by the corrected calibration parameter, thereby improving the accuracy of the calibration verification.

[0023] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0025] Figure 1 is a flowchart of a calibration process of an image acquisition device according to an exemplary embodiment of the related art.

[0026] Figure 2 is a flowchart of a calibration verification process of an image acquisition device according to an exemplary embodiment of the related art.

[0027] Figure 3 is a flowchart of a calibration verification method according to an exemplary embodiment.

[0028] Figure 4 is a flowchart of a calibration verification method according to an exemplary embodiment.

[0029] Figure 5 is a flowchart of a method for correcting a calibration parameter according to an exemplary embodiment.

[0030] Figure 6 is a flowchart of a method for correcting a calibration focal length parameter according to an exemplary embodiment.

[0031] Figure 7 is a flowchart of a method for correcting a calibration focal length parameter based on an autofocus state value according to an exemplary embodiment.

[0032] Figure 8 is a flowchart of a method for correcting a calibration focal length parameter based on an autofocus state value according to an exemplary embodiment.

[0033] Figure 9 is a flowchart of a method for correcting a calibration focal length parameter based on an autofocus state value according to an exemplary embodiment.

[0034] Figure 10 is a flowchart of a method for calibrating an image acquisition device according to an example embodiment.

[0035] Figure 11 is a flowchart of a method for calibrating and verifying an image acquisition device according to an example embodiment.

[0036] Figure 12 is a block diagram of a calibration and verification device according to an example embodiment.

[0037] Figure 13 is a block diagram of a device for calibration and verification according to an example embodiment. DETAILED DESCRIPTION

[0038] The example embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements or features in the figures. The following description does not represent all embodiments consistent with the present disclosure. Instead, the following description merely represents example embodiments consistent with some aspects of the present disclosure, as outlined in the appended claims.

[0039] The calibration and verification method provided by the embodiments of the present disclosure can be applied to a scenario of calibrating and verifying calibration parameters. For example, the scenario can be a scenario of calibrating and verifying calibration parameters of an image acquisition device such as a camera.

[0040] In the related art, an image acquisition device with multiple cameras is usually used to complete depth calculation, spatial measurement, portrait blur, smooth transition (SAT), image synthesis (Fusion), multi-view three-dimensional reconstruction, and the like. In the process of the image acquisition device performing the above work, the position difference between the cameras will affect the work results of the image acquisition device.

[0041] In the related art, the work result deviation caused by the position difference between the cameras can be reduced by factory calibration (calibration during production line production). In the process of factory calibration of the image acquisition device, calibration (obtaining the internal and external parameters of the cameras of the image acquisition device) is usually performed at a calibration station, and the calibration parameters are verified at a calibration verification station. In the related art, an image acquisition device with dual cameras (a main camera and a sub camera) can be calibrated. For example, as shown in FIG. 1, an image acquisition device 100 with dual cameras is provided. The image acquisition device 100 includes a main camera 110 and a sub camera 120. The main camera 110 and the sub camera 120 are arranged in a manner that the optical axis of the main camera 110 is parallel to the optical axis of the sub camera 120. The main camera 110 and the sub camera 120 are arranged in a manner that the optical axis of the main camera 110 is parallel to the optical axis of the sub camera 120. Figure 1As shown in FIG. 1, the main camera and the auxiliary camera of the image acquisition device are controlled to capture calibration images simultaneously. Feature point detection and feature point sorting are performed on the captured calibration images. Feature point matching is performed on the calibration images captured by the main camera and the auxiliary camera. Calibration is performed on the image acquisition device, and calibration parameters of the image acquisition device are obtained and saved. Through the calibration parameters, remapping, rectification, and evaluation of the calibration images can reduce errors caused by position differences between the cameras. In the related art, after the image acquisition device with the binocular camera is calibrated, the calibration parameters obtained can be calibrated and verified. For example, as shown in FIG. 2, the main camera and the auxiliary camera of the image acquisition device are controlled to capture verification images simultaneously. After feature point detection and feature point sorting are performed on the captured verification images, feature point matching is performed on the verification images captured by the main camera and the auxiliary camera. Through the previously saved calibration parameters, remapping, rectification, and evaluation of the verification images are performed to obtain calibration verification images. Whether the calibration parameters meet the standard can be determined through the calibration verification images. Figure 2

[0042] In the related art, the calibration parameters of the image acquisition device include state values corresponding to a focus sensor (for example, including an auto focus (AF) sensor) and state values corresponding to an optical image stabilizer (OIS). Because the implementation scene of calibration is different from the implementation scene of calibration verification, the state values corresponding to the focus sensor are different in the two scenes, and the state values corresponding to the OIS are also different. Therefore, using the calibration parameters obtained in the calibration process for calibration verification will result in inaccurate calibration verification results, which will further affect the yield of the calibration verification station.

[0043] Therefore, the present embodiments provide a calibration verification method. In the process of capturing calibration images and verification images, state values corresponding to a focus sensor and state values corresponding to an OIS are obtained. Through the obtained state values, calibration parameters of an image acquisition device are corrected, and corrected calibration parameters are obtained. Using the corrected calibration parameters for calibration verification can improve the accuracy of calibration verification.

[0044] For ease of description, the state values of the image acquisition device in the process of obtaining calibration images are referred to as first state values, and the state values of the image acquisition device in the process of obtaining calibration images are referred to as second state values.

[0045] Figure 3 FIG. 3 is a flowchart of a calibration verification method according to an example embodiment. As shown in FIG. 3, in step 301, a calibration image is captured. In step 302, feature point detection and feature point sorting are performed on the calibration image. In step 303, feature point matching is performed on the calibration images captured by the main camera and the auxiliary camera. In step 304, calibration is performed on the image acquisition device, and calibration parameters of the image acquisition device are obtained and saved. In step 305, a verification image is captured. In step 306, feature point detection and feature point sorting are performed on the verification image. In step 307, feature point matching is performed on the verification images captured by the main camera and the auxiliary camera. In step 308, through the previously saved calibration parameters, remapping, rectification, and evaluation of the verification images are performed to obtain calibration verification images. In step 309, whether the calibration parameters meet the standard is determined through the calibration verification images. Figure 3 ​As shown, the calibration verification method is used in a terminal and includes the following steps.

[0046] In step S11, a calibration parameter of an image acquisition device is determined.

[0047] In step S12, the calibration parameter is corrected based on a first state value and a second state value, the first state value including state values of a focus sensor and OIS corresponding to the image acquisition device in a process of acquiring a calibration image, and the second state value including state values of the focus sensor and OIS corresponding to the image acquisition device in a process of acquiring a verification image.

[0048] In step S13, calibration verification is performed based on the corrected calibration parameter.

[0049] In the embodiments of the present disclosure, the state values of the focus sensor and OIS are acquired in the processes of acquiring the calibration image and the verification image. After the calibration parameter is corrected based on the acquired state values, the calibration verification is performed based on the corrected calibration parameter. The present disclosure can improve the accuracy of the calibration verification.

[0050] Figure 4 is a flow block diagram of a calibration verification method according to an example embodiment, as shown in Figure 4 As shown, in the process of acquiring the calibration image, the state values of the focus sensor and OIS are acquired, i.e., the first state value is acquired. After the calibration parameter is obtained by the calibration algorithm, the calibration parameter and the first state value are stored. In the process of acquiring the verification image, the state values of the focus sensor and OIS are acquired, i.e., the second state value is acquired. The calibration parameter is corrected based on the first state value and the second state value, and the corrected calibration parameter is obtained. The acquired verification image is calibrated based on the corrected calibration parameter, so as to determine whether the calibration parameter meets the standard.

[0051] The calibration verification method provided in the embodiments of the present disclosure corrects the calibration parameter in the following manner.

[0052] Figure 5 is a flow block diagram of a method for correcting a calibration parameter according to an example embodiment, as shown in Figure 5 As shown, the method includes the following steps.

[0053] In the embodiments of the present disclosure, the state values of the image acquisition device include the first state value (the state values of the focus sensor and OIS acquired in the process of acquiring the calibration image) and the second state value (the state values of the focus sensor and OIS acquired in the process of acquiring the verification image).

[0054] In step S21, a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value are determined.

[0055] In step S22, the calibration parameter is compensated based on the difference between the first calibration correction parameter and the second calibration correction parameter, to obtain a corrected calibration parameter.

[0056] The calibration verification method provided in the embodiments of the present disclosure can correct and compensate the calibration parameter by using the first calibration correction parameter and the second calibration correction parameter, so as to obtain the corrected calibration parameter.

[0057] In the embodiments of the present disclosure, the state value of the image acquisition device can include a focus state value and an OIS state value, and the calibration parameter of the image acquisition device can include a focus parameter and an optical axis in optical center projection parameter. In an example, the image acquisition device can be used for multiple image acquisition. In each image acquisition process, the state value (such as the focus state value and / or the OIS state value) of the image acquisition device is obtained, and the calibration parameter (such as the focus parameter and / or the optical axis in optical center projection parameter) of the image acquisition device is determined, so as to obtain multiple sets of state values and calibration parameters. In the obtained state values and calibration parameters, the state value and the calibration parameter obtained in the same image acquisition process can be associated, and then the corresponding relationship curve between the state value and the calibration parameter is obtained. For example, the corresponding relationship curve between the focus state value and the focus parameter is obtained. For another example, the corresponding relationship curve between the OIS state value and the optical axis in optical center projection parameter is obtained.

[0058] In an example, the corresponding relationship curve between the state value and the calibration parameter can be determined and stored in advance. When the state value of the image acquisition device is determined, the calibration parameter corresponding to the state value can be obtained by searching the corresponding relationship curve between the state value and the calibration parameter.

[0059] In the embodiments of the present disclosure, the first state value can include a first focus state value, the second state value can include a second focus state value, and the calibration parameter can include a calibration focus parameter. The first focus state value can be understood as the state value corresponding to the focus sensor in the process of obtaining the calibration image, and the second focus state value can be understood as the state value corresponding to the focus sensor in the process of obtaining the verification image.

[0060] In an embodiment, a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value are determined. The focal length parameter corresponding to the focus state value can be determined through the correspondence curve between the focus state value and the focal length parameter when the focus state value is determined. For example, a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value are determined. The first focal length parameter can be understood as the focal length parameter corresponding to the image acquisition device when the focus state value is the first focus state value. The second focal length parameter can be understood as the focal length parameter corresponding to the image acquisition device when the focus state value is the second focus state value.

[0061] In another embodiment, the calibration parameter is compensated through the difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter. The calibration focal length parameter can be compensated through the parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected calibration focal length parameter.

[0062] Figure 6 A method flowchart for correcting a calibration focal length parameter is shown according to an example embodiment, as shown in Figure 6 The method includes the following steps.

[0063] In step S31, a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value are determined based on the correspondence curve between the focus state value and the focal length parameter.

[0064] In the embodiments of the present disclosure, the focus state value can be understood as the state value corresponding to the focus sensor. In an example, the auto focus state value can be a digital analog (DAC) value.

[0065] In step S32, the calibration focal length parameter is compensated based on the parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected calibration focal length parameter.

[0066] In the embodiments of the present disclosure, after the first focal length parameter value and the second focal length parameter value are obtained, the parameter value difference between the first focal length parameter value and the second focal length parameter value is determined. The parameter value difference between the first focal length parameter value and the second focal length parameter value is used as the compensation value of the calibration focal length parameter to compensate the calibration focal length parameter, so that the corrected calibration focal length parameter can be obtained.

[0067] In the embodiments of the present disclosure, the focus sensor includes an auto focus sensor. In an example, the calibration focal length parameter can be corrected using the state value (auto focus state value) corresponding to the auto focus sensor.

[0068] Figure 7 is a flow chart of correcting a calibration focal length parameter based on an autofocus state value according to an example embodiment, as shown in Figure 7 As shown, a first autofocus state value (a state value corresponding to an autofocus sensor in a process of acquiring a calibration image, denoted as S1_AF_main) and a second autofocus state value (a state value corresponding to an autofocus sensor in a process of acquiring a verification image, denoted as S2_AF_main) are obtained. Through a corresponding relationship curve between the autofocus state value and the focal length parameter, a first focal length parameter value corresponding to the first autofocus state value (denoted as S1_Len_main) and a second focal length parameter value corresponding to the second autofocus state value (denoted as S2_Len_main) are determined. Further, a parameter value difference (denoted as Δ_Len_main) between the first focal length parameter value and the second focal length parameter value is determined. After correcting the calibration focal length parameter through the parameter value difference, a corrected calibration focal length parameter is obtained.

[0069] In the embodiments of the present disclosure, the first state value can include a first OIS state value, the second state value can include a second OIS state value, and the calibration parameter can include an optical axis projection on an optical center calibration parameter. The first OIS state value can be understood as an OIS state value corresponding to the process of acquiring a calibration image, and the second OIS state value can be understood as an OIS state value corresponding to the process of acquiring a verification image.

[0070] In an embodiment, a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value are determined. In the case of determining the OIS state value, the optical axis projection on the optical center parameter corresponding to the OIS state value can be determined through a corresponding relationship curve between the OIS state value and the optical axis projection on the optical center parameter. For example, a first optical axis projection on the optical center parameter corresponding to the first OIS state value and a second optical axis projection on the optical center parameter corresponding to the second OIS state value are determined. The first optical axis can be understood as an optical axis corresponding to the image acquisition device in the case of the OIS state value being the first OIS state value. The second optical axis can be understood as an optical axis corresponding to the image acquisition device in the case of the OIS state value being the second OIS state value.

[0071] In another embodiment, the calibration parameter is compensated through the difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter. The optical axis projection on the optical center calibration parameter can be corrected through the parameter value difference between the first optical axis projection on the optical center parameter and the second optical axis projection on the optical center parameter, so as to obtain a corrected optical axis projection on the optical center calibration parameter.

[0072] Figure 8is a method flow chart for correcting optical axis on optical center projection calibration parameters according to an exemplary embodiment, as shown in Figure 8 includes the following steps.

[0073] In step S41, based on the corresponding relationship curve between the OIS state value and the optical axis on optical center projection parameter, the first optical axis on optical center projection parameter corresponding to the first OIS state value and the second optical axis on optical center projection parameter corresponding to the second OIS state value are determined.

[0074] In the embodiments of the present disclosure, the OIS state value can be understood as the state value corresponding to the OIS. In an example, the OIS state value can be a Hall HALL value.

[0075] In step S42, based on the parameter value difference between the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter, the optical axis on optical center projection calibration parameter is compensated to obtain the corrected optical axis on optical center projection calibration parameter.

[0076] The calibration verification method provided by the embodiments of the present disclosure determines the parameter value difference between the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter after obtaining the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter. The parameter value difference between the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter is used as the compensation value of the optical axis on optical center projection calibration parameter. The optical axis on optical center projection calibration parameter is compensated and corrected by the compensation value, and the corrected optical axis on optical center projection calibration parameter can be obtained.

[0077] Figure 9 is a flow chart for correcting optical axis on optical center projection calibration parameters according to an exemplary embodiment, as shown in Figure 9 In the process of collecting the calibration image, the first OIS state value (denoted as S1_OIS_main) is obtained. In the process of collecting the verification image, the second OIS state value (denoted as S2_OIS_main) is obtained. Through the corresponding relationship curve between the OIS state value and the optical axis on optical center projection parameter, the first optical axis on optical center projection parameter corresponding to the first OIS state value and the second optical axis on optical center projection parameter corresponding to the second OIS state value are determined. The parameter value difference (denoted as Δ_OIS_main) between the first optical axis on optical center projection parameter and the second optical axis on optical center projection parameter is determined. The optical axis on optical center projection calibration parameter is compensated by the parameter value difference to obtain the corrected optical axis on optical center projection parameter.

[0078] In this embodiment, the calibration focal length parameter can be corrected by adjusting the autofocus state value corresponding to the autofocus sensor, and the optical axis projection calibration parameter on the optical center can be corrected by adjusting the OIS state value, thereby achieving calibration parameter correction. After correcting the calibration parameters, calibration verification is performed using the corrected calibration parameters. In one example, calibration and verification can be performed on an image acquisition device with binocular cameras (main camera and secondary camera). For example, such as... Figure 10 and Figure 11 As shown, in the calibration process, calibration images are acquired using the main and secondary cameras of the image acquisition device. During image acquisition, the status values ​​of both the main and secondary cameras (including OIS and autofocus status values) are obtained. Feature point detection and sorting are performed on the acquired calibration images. After completion, feature point matching is performed between the calibration images acquired by the main and secondary cameras to obtain calibration parameters. Correction, reprojection, and data estimation of the calibration images using these calibration parameters reduce errors caused by positional differences between the cameras. After calibration, the status values ​​of both the main and secondary cameras (including OIS and autofocus status values) acquired during image acquisition are saved along with the calibration parameters. In the verification process, verification images are acquired using the main and secondary cameras of the image acquisition device. During image acquisition, the status values ​​of both the main and secondary cameras (including OIS and autofocus status values) are obtained. Feature point detection and sorting are performed on the acquired verification images, and feature point matching is performed between the images acquired by the main and secondary cameras. Status values ​​of the same type acquired during calibration and verification are compared (e.g., comparing the autofocus status values ​​acquired by the main camera during calibration and verification image acquisition) to obtain the parameter differences for each status value. These differences are used as compensation values ​​for the calibration parameters to correct them, resulting in corrected calibration parameters. The corrected calibration parameters are then used to reproject and numerically estimate the verification images, thus determining the calibration verification result. This disclosure allows for the correction of calibration focal length parameters and the projection of the optical axis onto the optical center, thereby achieving calibration parameter correction. Verifying the verification image using the corrected calibration parameters can improve verification accuracy.

[0079] Based on the same concept, this disclosure also provides a calibration and verification device.

[0080] It can be understood that, in order to achieve the above functions, the calibration verification device provided by the embodiments of the present disclosure comprises a hardware structure and / or a software module corresponding to the execution of each function. In combination with the units and algorithm steps of the examples disclosed in the embodiments of the present disclosure, the embodiments of the present disclosure can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present disclosure.

[0081] Figure 12 is a calibration verification device block diagram according to an exemplary embodiment. Referring to Figure 12 The device 100 comprises a determination unit 101, a correction unit 102 and a verification unit 103.

[0082] The determination unit 101 is configured to determine a calibration parameter. The correction unit 102 is configured to correct the calibration parameter based on a first state value and a second state value, the first state value comprising a state value corresponding to a focus sensor and an OIS in a process of acquiring a calibration image by an image acquisition device, and the second state value comprising a state value corresponding to a focus sensor and an OIS in a process of acquiring a verification image by a camera. The verification unit 103 is configured to perform calibration verification based on the corrected calibration parameter.

[0083] In an implementation, the correction unit 102 is configured to correct the calibration parameter based on the first state value and the second state value in the following manner: determining a first calibration correction parameter corresponding to the first state value, and a second calibration correction parameter corresponding to the second state value. Compensating the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain the corrected calibration parameter.

[0084] In an implementation, the first state value comprises a first focus state value, the second state value comprises a second focus state value, and the calibration parameter comprises a calibration focal length parameter. The correction unit 102 is configured to determine the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value in the following manner: determining a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value based on a corresponding relationship curve between the focus state value and the focal length parameter, the focus state value comprising the first focus state value and the second focus state value, and the focal length parameter comprising the first focal length parameter and the second focal length parameter.

[0085] In an embodiment, the correction unit 102 compensates the calibration parameter based on a difference between the first calibration parameter and the second calibration parameter to obtain a corrected calibration parameter in the following manner: compensates the calibration focal length parameter based on a parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected focal length parameter.

[0086] In an embodiment, the first state value comprises a first OIS state value, the second state value comprises a second OIS state value, and the calibration parameter comprises an optical axis on optical center projection parameter. The correction unit 102 determines the first calibration parameter corresponding to the first state value and the second calibration parameter corresponding to the second state value in the following manner: determines the first optical axis on optical center projection parameter corresponding to the first OIS state value and the second optical axis on optical center projection parameter corresponding to the second OIS state value based on a correspondence relationship curve between the OIS state value and the optical axis on optical center projection parameter, wherein the OIS state value comprises the first OIS state value and the second OIS state value, and the optical axis comprises the first optical axis and the second optical axis. The first optical axis is the optical axis corresponding to the image acquisition device when the OIS state value is the first OIS state value, and the second optical axis is the optical axis corresponding to the image acquisition device when the OIS state value is the second OIS state value.

[0087] In an embodiment, the correction unit 102 compensates the calibration parameter based on a difference between the first calibration parameter and the second calibration parameter to obtain a corrected calibration parameter in the following manner: compensates the calibration focal length parameter based on a parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected focal length parameter.

[0088] As to the apparatus in the above-mentioned embodiments, specific manners that various modules perform operations have been described in details in the embodiments of the method, and thus will not be repeated here.

[0089] Figure 13 is a block diagram of an apparatus 200 for calibration according to an exemplary embodiment. The apparatus 200 for calibration can be, for example, a mobile phone, a computer, a digital broadcast terminal, a message communication device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, or the like.

[0090] Referring to Figure 13 The apparatus 200 for calibration can include one or more of the following components: a processing component 202, a memory 204, a power supply component 206, a multimedia component 208, an audio component 210, an input / output (I / O) interface 212, a sensor component 214, and a communication component 216.

[0091] The processing component 202 usually controls overall operations of the apparatus 200 for calibration, such as operations associated with display, phone call, data communication, operation and recording operation. The processing component 202 can include one or more processors 220 to execute instructions to complete all or part of the steps of the calibration verification method described above. In addition, the processing component 202 can also include one or more modules to facilitate the interaction between the processing component 202 and other components. For example, the processing component 202 can also include a multimedia module to facilitate the interaction between the multimedia component 208 and the processing component 202.

[0092] The memory 204 can be configured to store various types of data to support operations of the apparatus 200 for calibration. Examples of these data include instructions that can be used by any application or method operating on the apparatus 200 for calibration, contact data, phonebook data, messages, pictures, videos, and the like. The memory 204 can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0093] The power component 206 can provide power for various components of the apparatus 200 for calibration. The power component 206 can also include a power management system, one or more power sources, and other components associated with generating, managing and distributing power for the apparatus 200 for calibration.

[0094] The multimedia component 208 can include a screen providing an output interface between the apparatus 200 for calibration and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel can include one or more touch sensors to sense a touch, a slide and a gesture on the touch panel. The touch sensors can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 208 can include a front camera and / or a rear camera. The front camera and / or the rear camera can receive external multimedia data when the apparatus 200 for calibration is in an operation mode, such as a photographing mode or a video mode. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0095] The audio component 210 can be configured to output and / or input audio signals. For example, the audio component 210 can include a microphone (MIC) that can be configured to receive an external audio signal when the device for calibration 200 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 204 or transmitted via the communication component 216. In some embodiments, the audio component 210 can further include a speaker for outputting an audio signal.

[0096] The I / O interface 212 can provide an interface between the processing component 202 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0097] The sensor component 214 can include one or more sensors to provide various state assessments for the device for calibration 200. For example, the sensor component 214 can detect an open / closed state of the device for calibration 200, relative positioning of components, such as a display and a keypad of the device for calibration 200, a change in position of the device for calibration 200 or a component of the device for calibration 200, presence or absence of user contact with the device for calibration 200, an orientation or acceleration / deceleration of the device for calibration 200, and a temperature change of the device for calibration 200. The sensor component 214 can include an orientation sensor, a proximity sensor configured to detect presence of an object in proximity to the device for calibration 200, an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0098] The communication component 216 can be configured to facilitate wired or wireless communication between the device for calibration 200 and another device. The device for calibration 200 can access a wireless network based on a communication standard, such as WiFi, 4G, or 5G, or a combination thereof. In an example embodiment, the communication component 216 can receive broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an example embodiment, the communication component 216 can further include a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technology.

[0099] In exemplary embodiments, the apparatus 200 for calibration can also be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic elements for executing the calibration verification method described above.

[0100] In exemplary embodiments, a non-transitory computer readable storage medium including instructions, such as the memory 204 including instructions, is also provided, which can be executed by the processor 220 of the apparatus 200 for calibration to complete the calibration verification method described above. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0101] It can be understood that "multiple" in the present disclosure can refer to two or more, and other quantifiers are similar. The association relationship of "and / or" describing the associated objects means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship. The singular form "a", "said" and "the" are also intended to include the plural form, unless the context clearly indicates otherwise.

[0102] It can be further understood that the terms "first", "second", and the like can be used to describe various information, but these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not represent a particular order or importance. In fact, the expressions of "first", "second", and the like can be used interchangeably. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present disclosure.

[0103] In the drawings, the same or similar notations are used to represent the same or similar elements or elements having the same or similar functions throughout. The described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. The embodiments described above by reference to the drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure. All other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure without making creative efforts are within the scope of protection of the present disclosure. The embodiments of the present disclosure are described in detail above in conjunction with the drawings.

[0104] It will be further appreciated that embodiments of the present disclosure, although described in certain order of sequences in flowcharts of the drawings, should not be construed to require that the operations be performed in the order or serially, or that all operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous.

[0105] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the concepts disclosed herein. It is intended that the present disclosure cover any and all variations of the present disclosure including combinations of features falling within the general scope of the disclosure. The specification and examples given are intended as illustrative only and not in a limiting sense. The true scope and spirit of the present disclosure should be indicated by the following claims.

[0106] It is to be understood that the present disclosure is not limited to the precise details of design and construction described herein and illustrated in the drawings and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is indicated by the appended claims, rather than by the foregoing description.

Claims

1. A calibration verification method, characterized by, The calibration verification method is applied to an image acquisition device, and comprises the following steps: determining a calibration parameter of the image acquisition device; correcting the calibration parameter based on a first state value and a second state value, the first state value comprising a state value corresponding to a focus sensor and an optical image stabilizer (OIS) of the image acquisition device in a process of acquiring a calibration image, and the second state value comprising a state value corresponding to the focus sensor and the OIS of the image acquisition device in a process of acquiring a verification image; performing calibration verification based on the corrected calibration parameter; the correcting the calibration parameter based on the first state value and the second state value comprises: determining a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value; compensating the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter.

2. The calibration verification method of claim 1, wherein, the first state value comprises a first focus state value, the second state value comprises a second focus state value, and the calibration parameter comprises a calibration focal length parameter; the determining a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value comprises: determining a first focal length parameter value corresponding to the first focus state value and a second focal length parameter value corresponding to the second focus state value based on a corresponding relationship curve between a focus state value of the focus sensor and a focal length parameter, the focus state value comprising the first focus state value and the second focus state value, and the focal length parameter comprising a first focal length parameter and a second focal length parameter.

3. The calibration verification method of claim 2, wherein, the compensating the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter comprises: compensating the calibration focal length parameter based on a parameter value difference between the first focal length parameter value and the second focal length parameter value to obtain a corrected calibration focal length parameter.

4. The calibration verification method of any one of claims 1 to 3, wherein, the first state value comprises a first OIS state value, the second state value comprises a second OIS state value, and the calibration parameter comprises an optical axis projection on an optical center parameter; the determining a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value comprises: determining a first optical axis projection on the optical center parameter corresponding to the first OIS state value and a second optical axis projection on the optical center parameter corresponding to the second OIS state value based on a corresponding relationship curve between an OIS state value and an optical axis projection on the optical center parameter, the OIS state value comprising the first OIS state value and the second OIS state value, and the optical axis comprising a first optical axis and a second optical axis; wherein the first optical axis is an optical axis corresponding to the image acquisition device in a case where the OIS state value is the first OIS state value, and the second optical axis is an optical axis corresponding to the image acquisition device in a case where the OIS state value is the second OIS state value.

5. The calibration verification method of claim 4, wherein, The compensation of the calibration parameter based on the difference between the first calibration correction parameter and the second calibration correction parameter comprises: The compensation of the optical axis projection calibration parameter on the optical center based on the parameter value difference between the first optical axis projection parameter on the optical center and the second optical axis projection parameter on the optical center comprises:

6. A calibration verification device, characterized by The calibration verification device is applied to an image acquisition device, and comprises: A determination unit is configured to determine a calibration parameter of the image acquisition device; A correction unit is configured to correct the calibration parameter based on a first state value and a second state value, wherein the first state value comprises state values of a focus sensor and an optical image stabilizer (OIS) corresponding to the image acquisition device in a process of acquiring a calibration image, and the second state value comprises state values of the focus sensor and the OIS corresponding to the image acquisition device in a process of acquiring a verification image; A verification unit is configured to perform calibration verification based on the corrected calibration parameter. The correction unit corrects the calibration parameter based on the first state value and the second state value in the following manner: The correction unit determines a first calibration correction parameter corresponding to the first state value and a second calibration correction parameter corresponding to the second state value in the following manner: The correction unit compensates the calibration parameter based on the difference between the first calibration correction parameter and the second calibration correction parameter in the following manner:

7. The calibration verification device of claim 6, wherein, The first state value comprises a first focus state value, the second state value comprises a second focus state value, and the calibration parameter comprises a calibration focal length parameter; The correction unit determines the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value in the following manner: The correction unit compensates the calibration focal length parameter based on the parameter value difference between the first focal length parameter value and the second focal length parameter value in the following manner:

8. The calibration verification device of claim 7, wherein, The first state value comprises a first OIS state value, the second state value comprises a second OIS state value, and the calibration parameter comprises an optical axis projection calibration parameter on an optical center; The correction unit determines the first calibration correction parameter corresponding to the first state value and the second calibration correction parameter corresponding to the second state value in the following manner:

9. The calibration verification device of any one of claims 6 to 8, wherein, ​ ​ Based on a corresponding relationship curve between an OIS state value and an optical axis projection parameter on an optical center, the OIS state value includes the first OIS state value and the second OIS state value, and the optical axis includes a first optical axis and a second optical axis, a first optical axis projection parameter on the optical center corresponding to the first OIS state value is determined, and a second optical axis projection parameter on the optical center corresponding to the second OIS state value is determined. The first optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the first OIS state value, and the second optical axis is an optical axis corresponding to the image acquisition device when the OIS state value is the second OIS state value.

10. The calibration verification device of claim 9, wherein, The correction unit compensates the calibration parameter based on a difference between the first calibration correction parameter and the second calibration correction parameter to obtain a corrected calibration parameter in the following manner: The optical axis projection calibration parameter on the optical center is compensated based on a parameter value difference between the first optical axis projection parameter on the optical center and the second optical axis projection parameter on the optical center to obtain a corrected optical axis projection calibration parameter on the optical center.

11. A calibration verification device, characterized by Comprise: A memory, a processor, and a computer program stored in the memory, the processor executes the computer program to implement the steps of the calibration verification method in any one of claims 1 to 5.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by the processor to implement the steps of the calibration verification method in any one of claims 1 to 5.

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