Camera intrinsic parameter calibration and verification method, device, equipment and medium

Abstract

The disclosed embodiments relate to a method, apparatus, device, and medium for calibrating and verifying camera intrinsic parameters, wherein the method comprises: obtaining multiple reference images captured by a target camera under preset shooting conditions and multiple reference world coordinates, wherein the target camera has calibrated camera intrinsic parameters; determining first coordinate change parameters corresponding to the multiple reference world coordinates according to the preset shooting conditions, and determining second coordinate change parameters for the multiple reference images according to a preset algorithm; determining whether the second coordinate change parameters are consistent with the first coordinate change parameters; and if the second coordinate change parameters are consistent with the first coordinate change parameters, feeding back a verification message indicating successful camera intrinsic parameter calibration. Thus, the calibration and verification of camera intrinsic parameters are decoupled, the accuracy of camera intrinsic parameter calibration verification is improved, and the calibration and verification of camera intrinsic parameters are automatically performed, providing technical support for achieving efficient camera intrinsic parameter calibration.

Description

Technical Field

[0001] The present disclosure relates to the field of equipment production technology, and in particular to a method, apparatus, device, and medium for calibrating and verifying camera intrinsic parameters. Background Art

[0002] The camera intrinsic parameters include the focal length fx, fy, the camera optical center coordinates cx, cy, and the time delay between the camera and the inertial navigation. Since the camera intrinsic parameters determine the conversion relationship from the camera coordinates to the pixel coordinates of the object, the accuracy of the camera intrinsic parameter calibration determines the imaging quality.

[0003] In the related art, the chessboard calibration method is used to calibrate the camera intrinsic parameters, and the chessboard calibration method is used to verify the camera intrinsic parameters. That is, after the camera intrinsic parameters are calibrated by the reprojection error of the chessboard corner points in the image, the reprojection error of the chessboard corner points in the image is used as the metric for intrinsic parameter verification.

[0004] However, the calibration and verification processes of the above-mentioned camera intrinsic parameters are not independent. The algorithms used during calibration and verification are the same. When the error calibrated by the chessboard calibration method is large, using the same chessboard calibration method to verify the calibrated camera intrinsic parameters will obviously lead to the inability to accurately verify the calibration error. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, an embodiment of the present disclosure provides a calibration and verification method for camera intrinsic parameters, the method comprising: obtaining multiple reference images shot by a target camera under multiple reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters; determining first coordinate change parameters corresponding to the multiple reference world coordinates according to the preset shooting conditions, and determining second coordinate change parameters of the multiple reference images according to a preset algorithm; judging whether the second coordinate change parameter is consistent with the first coordinate change parameter; if the second coordinate change parameter is consistent with the first coordinate change parameter, feeding back a verification message indicating that the camera intrinsic parameter calibration is successful.

[0006] An embodiment of the present disclosure also provides a calibration and verification device for camera intrinsic parameters, the device comprising: an acquisition module for acquiring a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters; a determination module for determining a first coordinate change parameter corresponding to the plurality of reference world coordinates according to the preset shooting conditions, and determining a second coordinate change parameter of the plurality of reference images according to a preset algorithm; a judgment module for judging whether the second coordinate change parameter is consistent with the first coordinate change parameter; and a verification feedback module for feeding back a verification message indicating that the camera intrinsic parameter calibration is successful when the second coordinate change parameter is consistent with the first coordinate change parameter.

[0007] The present disclosure also proposes a camera intrinsic parameter calibration and verification system, which includes an uploading unit, a processing unit and a result feedback unit. The uploading unit is used to receive multiple reference images uploaded by a user to the calibration and verification system, and / or a video containing the multiple reference images, wherein the multiple reference images are taken by a target camera with calibrated camera intrinsic parameters under multiple reference world coordinates under preset shooting conditions; the processing unit is used to determine first coordinate change parameters corresponding to the multiple reference world coordinates according to the preset shooting conditions, and determine second coordinate change parameters of the multiple reference images according to a preset algorithm, and generate a verification message indicating that the camera intrinsic parameter calibration is successful when it is determined that the second coordinate change parameters are consistent with the first coordinate change parameters; the result feedback unit is used to feed back the verification message.

[0008] An embodiment of the present disclosure further provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the camera intrinsic parameter calibration and verification method provided in the embodiment of the present disclosure.

[0009] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the calibration and verification method of the camera intrinsic parameters provided by the embodiment of the present disclosure.

[0010] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0011] The camera intrinsic parameter calibration and verification scheme provided by the disclosed embodiments obtains multiple reference images of a reference object captured by a target camera under multiple reference world coordinates under preset shooting conditions, wherein the target camera has already calibrated the camera intrinsic parameters. Furthermore, the scheme determines the first coordinate change parameters corresponding to the multiple reference world coordinates, as well as the second coordinate change parameters of the multiple reference images. Finally, the scheme determines whether the second coordinate change parameters are consistent with the first coordinate change parameters. If the second coordinate change parameters are consistent with the first coordinate change parameters, a verification message indicating successful camera intrinsic parameter calibration is fed back. Thus, the calibration and verification of the camera intrinsic parameters are decoupled, improving the accuracy of the camera intrinsic parameter calibration verification. Furthermore, the calibration verification of the camera intrinsic parameters is automated, providing technical support for achieving efficient camera intrinsic parameter calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0013] Figure 1 A schematic diagram of a flow chart of a camera intrinsic parameter calibration and verification method provided by an embodiment of the present disclosure;

[0014] Figure 2 A schematic flow chart of another method for calibrating and verifying camera intrinsic parameters provided by an embodiment of the present disclosure;

[0015] FIG3( a ) is a schematic diagram of the positions of multiple reference world coordinates provided by an embodiment of the present disclosure;

[0016] FIG3( b ) is another schematic diagram of the positions of multiple reference world coordinates provided by an embodiment of the present disclosure;

[0017] Figure 4 A schematic flow chart of another method for calibrating and verifying camera intrinsic parameters provided by an embodiment of the present disclosure;

[0018] Figure 5 A schematic flow chart of another method for calibrating and verifying camera intrinsic parameters provided by an embodiment of the present disclosure;

[0019] FIG6( a ) is a schematic diagram of multiple reference images provided by an embodiment of the present disclosure;

[0020] FIG6( b ) is a schematic diagram of another type of multiple reference images provided by an embodiment of the present disclosure;

[0021] Figure 7 A schematic structural diagram of a camera intrinsic parameter calibration and verification system provided by an embodiment of the present disclosure;

[0022] FIG8( a ) is a schematic diagram of a scenario in which camera intrinsic parameters are applied on a server side according to an embodiment of the present disclosure;

[0023] FIG8( b ) is a schematic diagram of another scenario of camera intrinsic parameters being applied on a server side according to an embodiment of the present disclosure;

[0024] FIG8( c ) is a schematic diagram of another scenario of camera intrinsic parameters being applied on a server side according to an embodiment of the present disclosure;

[0025] Figure 9 A schematic structural diagram of a camera intrinsic parameter calibration and verification device provided by an embodiment of the present disclosure;

[0026] Figure 10 A schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0028] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0029] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0030] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0031] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0032] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0033] In order to solve the problem mentioned in the above background technology that the calibration and verification of camera intrinsic parameters are not independent, resulting in inaccurate verification, the embodiments of the present disclosure provide a calibration and verification method for camera intrinsic parameters, which is introduced below in conjunction with specific embodiments.

[0034] Figure 1 This is a flow chart of a method for calibrating and verifying camera intrinsic parameters provided in an embodiment of the present disclosure. The method can be performed by a calibration and verification device for camera intrinsic parameters, wherein the device can be implemented using software and / or hardware and can generally be integrated into an electronic device containing a camera, including but not limited to smartphones, wearable devices, laptops, etc.

[0035] like Figure 1 As shown, the method includes:

[0036] Step 101 : obtaining a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has been calibrated with camera intrinsic parameters.

[0037] It should be understood that the target camera in this embodiment has calibrated the camera intrinsic parameters before capturing the reference image. In this embodiment, the method for calibrating the camera intrinsic parameters can be any algorithm that can determine the camera intrinsic parameters, such as the Zhang Dingyou calibration method.

[0038] In one embodiment of the present disclosure, a calibration image of a preset calibration object is captured by a target camera, wherein the preset calibration object includes calibration points. The preset calibration object may be an object such as a chessboard that is convenient for locating the calibration points. Then, the standard world coordinates of the calibration points are obtained. The standard world coordinates may be pre-marked on the preset calibration object. Then, the image coordinates of the calibration points in the calibration image are extracted. Since the image coordinates reflect the result of mapping the calibration points onto the two-dimensional image, the transformation matrix between the standard world coordinates and the image coordinates can be calculated, and the transformation matrix is ​​used as the camera intrinsic parameter.

[0039] In this embodiment, in order to verify the calibration results of the camera intrinsic parameters of the target camera, shooting conditions are set in advance, and multiple reference world coordinates under the shooting conditions meet certain coordinate change conditions, so as to facilitate subsequent coordinate comparison, that is, any multiple reference world coordinates under the preset shooting conditions are known, so as to facilitate the subsequent determination of the calibration error based on the reference world coordinates. Furthermore, in order to obtain the conversion relationship between the reference world coordinates on the two-dimensional image, multiple reference images of the reference object are captured by the target camera under multiple reference world coordinates, wherein the multiple reference world coordinates can be any multiple reference world coordinates that meet the corresponding shooting conditions, and the reference object can be any object. There is a corresponding reference image under each reference world coordinate, which facilitates the determination of the conversion relationship between the target camera from three-dimensional to two-dimensional.

[0040] It should be noted that in different application scenarios, the above-mentioned preset shooting conditions are different, and thus the coordinate relationship between the corresponding multiple reference world coordinates is different. The details will be explained in subsequent embodiments and will not be repeated here.

[0041] Step 102 : determining first coordinate change parameters corresponding to a plurality of reference world coordinates according to a preset shooting condition, and determining second coordinate change parameters of a plurality of reference images according to a preset algorithm.

[0042] It can be understood that the coordinate changes of the reference object in the world coordinates on the reference image reflect the conversion relationship under the action of the camera intrinsic parameters. Therefore, in this embodiment, the first coordinate change parameters corresponding to multiple reference world coordinates are determined according to the shooting conditions, and the second coordinate change parameters of multiple reference images are determined according to the preset algorithm.

[0043] It should be noted that the first coordinate change parameter and the second coordinate change parameter in this embodiment may include any parameters that directly or indirectly reflect the coordinate change, for example, they may be change parameters of the coordinate value itself, or they may be area change parameters of a reference object related to the coordinate value, etc. The details will be described in subsequent embodiments and will not be repeated here.

[0044] Step 103: Determine whether the second coordinate change parameter is consistent with the first coordinate change parameter.

[0045] Step 104: If the second coordinate change parameter is consistent with the first coordinate change parameter, a verification message indicating that the camera intrinsic parameter calibration is successful is fed back.

[0046] In this embodiment, it is determined whether the second coordinate change parameter is consistent with the first coordinate change parameter. If they are consistent, it indicates that the conversion relationship from world coordinates to pixel coordinates of the reference object is stable under the action of the camera intrinsic parameter. Therefore, the camera intrinsic parameter error is within a low range, and a verification message indicating that the camera intrinsic parameter calibration is successful is fed back.

[0047] Therefore, the verification and calibration of the camera intrinsic parameters in this embodiment are two independent processes. When verifying the calibration of the camera parameters, verification is performed from another perspective, that is, from where the coordinate changes are taken, thereby achieving decoupling of calibration and verification, improving the accuracy of the verification error, and the verification process is automatically executed, which can be applied on a large scale on the camera production line for calibration verification.

[0048] In summary, the camera intrinsic parameter calibration and verification method of the disclosed embodiment obtains multiple reference images of a reference object captured by a target camera under preset shooting conditions and multiple reference world coordinates, wherein the target camera has calibrated the camera intrinsic parameters. Furthermore, the method determines the first coordinate change parameters corresponding to the multiple reference world coordinates and the second coordinate change parameters of the multiple reference images. Finally, it determines whether the second coordinate change parameters are consistent with the first coordinate change parameters. If the second coordinate change parameters are consistent with the first coordinate change parameters, a verification message indicating successful camera intrinsic parameter calibration is fed back. Thus, the calibration and verification of the camera intrinsic parameters are decoupled, the accuracy of the camera intrinsic parameter calibration and verification is improved, and the calibration and verification of the camera intrinsic parameters are automatically performed, providing technical support for achieving efficient camera intrinsic parameter calibration.

[0049] In the embodiment of the present disclosure, since the verification is based on the quantitative parameter of the coordinate change parameter, when the calibration verification of the camera intrinsic parameter fails, the error degree can be quantified directly based on the second coordinate change parameter and the first coordinate change parameter to provide a reference for correcting the camera intrinsic parameter.

[0050] In one embodiment of the present disclosure, Figure 2 As shown, after determining whether the second coordinate change parameter is consistent with the first coordinate change parameter, the method further includes:

[0051] Step 201 : If the second coordinate change parameter is inconsistent with the first coordinate change parameter, a coordinate change parameter difference between the second coordinate change parameter and the first coordinate change parameter is calculated.

[0052] It can be understood that the second coordinate change parameter in this embodiment is inconsistent with the first coordinate change parameter, which may be because the difference between the second coordinate change parameter and the first coordinate change parameter is greater than a preset threshold, etc. In order to quantify the degree of inconsistency between the second coordinate change parameter and the first coordinate change parameter, the coordinate change parameter difference between the second coordinate change parameter and the first coordinate change parameter is calculated.

[0053] For example, when the second coordinate change parameter and the first coordinate change parameter are the coordinate drift of the Z axis, if the coordinate drift of the Z axis corresponding to the first coordinate change parameter is basically 0, and the coordinate drift of the Z axis corresponding to the second coordinate change parameter is larger, then it is considered that the second coordinate change parameter is inconsistent with the first coordinate change parameter. Therefore, the difference between the coordinate drift of the Z axis corresponding to the second coordinate change parameter and the first coordinate change parameter is used as the coordinate change parameter difference.

[0054] Step 202: Correct the camera intrinsic parameters according to the coordinate change parameter difference.

[0055] It should be noted that in different application scenarios, the method of correcting the camera intrinsic parameters according to the coordinate change parameter difference is different. In some possible embodiments, the correspondence between the coordinate change parameter difference and the camera intrinsic parameter correction value can be constructed in advance based on the time delay data, and the correspondence is queried to obtain the correction value corresponding to the coordinate change parameter difference. The correction value can be positive or negative, and then the original camera intrinsic parameter is added to the corresponding correction value to obtain the corrected camera intrinsic parameter.

[0056] In some other possible embodiments, the coordinate change parameter difference is provided as a loss value to the camera intrinsic parameter calibration algorithm, and the camera intrinsic parameter calibration algorithm re-corrects the camera intrinsic parameter according to the coordinate change parameter difference until the verification is passed.

[0057] In summary, the camera intrinsic parameter calibration and verification method of the embodiment of the present disclosure can quantify the degree of camera intrinsic parameter calibration error when it is learned that the camera intrinsic parameter verification fails, thereby improving the efficiency of camera intrinsic parameter calibration.

[0058] As described in the above embodiment, the preset shooting conditions are related to the coordinate change relationship of multiple reference world coordinates. Therefore, it can be understood that the preset shooting conditions can be any conditions that specify the camera position when capturing the reference image. The following example illustrates:

[0059] Example 1:

[0060] In this example, the preset shooting condition is a coordinate change condition that limits at least one preset dimension of multiple reference world coordinates. The coordinate change condition can be a condition that the coordinate value of the preset dimension is fixed, wherein the preset dimension can be any one or more dimensions of X, Y, and Z. In some embodiments, in order to facilitate accurate verification of the camera intrinsic parameters, the preset dimension can be a dimension that can easily summarize the coordinate value change relationship of multiple reference world coordinates.

[0061] For example, as shown in FIG3( a ), the shooting condition is that the camera is shot in a direction in which the direction of gravity remains unchanged. Obviously, the coordinate relationship of the corresponding multiple reference world coordinates remains unchanged along the direction of gravity.

[0062] The coordinate change condition can also be a condition that the coordinate values ​​of the preset dimensions increase according to the same incremental value. For example, as shown in Figure 3(b), the shooting condition is that the gravity direction of the camera increases according to a fixed incremental value during shooting. Obviously, the coordinate relationship of the corresponding multiple reference world coordinates is that the multiple reference world coordinates increase according to a certain incremental value along the gravity direction.

[0063] Example 2:

[0064] In this example, the preset shooting conditions can be to limit the shooting position of the camera according to a preset random distribution function. In this embodiment, the camera is randomly controlled to shoot a reference image under the corresponding random reference world coordinate conditions according to the random distribution function. Therefore, the camera intrinsic parameters can be calibrated based on whether the shooting coordinate changes inferred from the reference image conform to the distribution law of the random distribution function.

[0065] In summary, the camera intrinsic parameter calibration and verification method of the embodiment of the present disclosure can flexibly set shooting conditions and limit the coordinate relationship of multiple reference world coordinates, thereby facilitating subsequent calibration and verification of the camera intrinsic parameters.

[0066] In order to enable technicians in this field to have a clearer understanding, the process of verifying the camera intrinsic parameter error based on the first coordinate change parameter and the second coordinate change parameter of multiple reference images is explained below using the first coordinate change parameter and the second coordinate change parameter as coordinates and area respectively.

[0067] Example 1:

[0068] In this example, the coordinate change parameter is the relevant coordinate value of the reference object.

[0069] like Figure 4 As shown, determining first coordinate change parameters corresponding to multiple reference world coordinates and second coordinate change parameters of multiple reference images includes:

[0070] Step 401 : Calculate a plurality of first coordinate values ​​of a plurality of preset world coordinates in a preset dimension according to a preset shooting condition, and determine the plurality of first coordinate values ​​of the preset dimension as a first coordinate variation parameter.

[0071] The preset dimension may be any one or more dimensions of X, Y, and Z corresponding to the preset shooting conditions.

[0072] For example, as shown in Figure 3(a), if multiple reference world coordinates under the preset shooting conditions change along the direction where the gravity direction remains unchanged, then since the coordinate values ​​of the Z axes of the multiple reference world coordinates remain almost unchanged, the preset dimension is the dimension corresponding to the Z axis; for example, as shown in Figure 3(b), if multiple reference world coordinates under the preset shooting conditions rise along the gravity direction according to a certain ratio, then since the coordinate values ​​of the Z axes of the multiple reference world coordinates change incrementally according to a fixed ratio, the preset dimension is the dimension corresponding to the Z axis, and so on.

[0073] In this embodiment, multiple first coordinate values ​​of the preset dimension are the first coordinate change parameters. For example, when the preset dimension is the dimension corresponding to the Z axis, multiple Z axis coordinate values ​​are used as the first coordinate change parameters.

[0074] Step 402 : Calculate a plurality of second coordinate values ​​of a plurality of reference images in a preset dimension according to a preset algorithm, and determine a second coordinate change parameter of the plurality of second coordinate values ​​in the preset dimension.

[0075] It is easy to understand that if the camera intrinsic parameter error is small, the coordinate change relationship between the second coordinate values ​​of multiple reference images in the preset dimension must be consistent with the coordinate change relationship between the multiple first coordinate values. Therefore, in order to determine the camera intrinsic parameter error, the multiple second coordinate values ​​of the multiple reference images in the preset dimension are calculated, and the multiple second coordinate values ​​of the preset dimension are determined as the second coordinate change parameters.

[0076] Furthermore, determining whether the second coordinate change parameter is consistent with the first coordinate change parameter corresponds to summarizing whether the coordinate relationship corresponding to the multiple first coordinate values ​​is consistent with the corresponding relationship of the multiple second coordinate values. For example, when the multiple first coordinate values ​​are basically the same, if the calibrated camera intrinsic parameters are accurate, the corresponding multiple second coordinate values ​​should also be basically the same.

[0077] Therefore, in this embodiment, continue to refer to Figure 4 , also includes:

[0078] Step 403: Determine a first coordinate change function according to a plurality of first coordinate values ​​under a preset dimension.

[0079] It should be understood that the first coordinate change function directly summarizes the coordinate change relationship of multiple first coordinate values. For example, when multiple second coordinate values ​​correspond to the example as shown in Figure 3(a), the first coordinate change function is Z1=a, where a is a fixed value of the first coordinate value.

[0080] For another example, when multiple second coordinate values ​​correspond to the example in Figure 3(b), the first coordinate change function is Z1=c+(t-1), where t is the sequence number of multiple reference world coordinates in the queue after they are arranged in order of coordinate relationship, and c is an arbitrary fixed value.

[0081] Step 404 : determining a second coordinate variation function according to a plurality of second coordinate values ​​under a preset dimension.

[0082] In this embodiment, the second coordinate change function is determined according to the plurality of second coordinate values ​​under the preset dimension, for example, a linear or nonlinear functional relationship between the plurality of second coordinate values ​​corresponding to the plurality of first coordinate values ​​is calculated.

[0083] Step 405: Determine whether the first coordinate change function and the second coordinate change function are consistent.

[0084] In this embodiment, it is determined whether the first coordinate change function and the second coordinate change function are consistent. For example, when the first change function is Z1=a, it is determined whether the second change function is Z2=b, where b is an arbitrary constant value. If not, it is obvious that the first coordinate change function and the second coordinate change function are inconsistent, and it is considered that the camera intrinsic parameter error is large. If Z2=b, it is considered that the camera intrinsic parameter error is small, and the camera intrinsic parameter calibration is successful.

[0085] For another example, when the first coordinate change function is Z1=c+(t-1), it is determined whether the second coordinate change function is Z2=d+(t-1), where t is the sequence number of multiple second coordinates in the queue after being arranged in the order of the corresponding first coordinates, and d is an arbitrary fixed value. If not, it is obvious that the first coordinate change function and the second coordinate change function are inconsistent, and it is considered that the camera intrinsic parameter error is large. If Z2=d+(t-1), it is considered that the camera intrinsic parameter error is small, and the camera intrinsic parameter calibration is successful.

[0086] Example 2:

[0087] In this example, the coordinate change parameter is the relevant area value of the reference object.

[0088] like Figure 5 As shown, determining first coordinate change parameters corresponding to multiple reference world coordinates and second coordinate change parameters of multiple reference images includes:

[0089] Step 501 : determining a plurality of standard imaging areas corresponding to a plurality of reference world coordinates of a photographed reference object under preset photographing conditions, and determining the plurality of standard imaging areas as first coordinate variation parameters.

[0090] In this embodiment, multiple standard imaging areas of the reference object under multiple reference world coordinates under preset shooting conditions are determined, wherein the standard imaging areas here indirectly reflect the change in the imaging area of ​​the reference object when the coordinate values ​​of the multiple reference world coordinates under the preset shooting conditions change. Therefore, the determination of the standard imaging area can be any value corresponding to the change relationship of the coordinate values, rather than the actual ideal imaging area of ​​the reference object when the camera parameters are error-free.

[0091] For example, as shown in FIG3(a), if multiple reference world coordinates (four reference world coordinates 1-4 are shown in the figure) change along a direction in which the direction of gravity remains unchanged, then since the coordinate values ​​of the Z-axis of the multiple reference world coordinates remain almost unchanged, when the reference object is perpendicular to the Z-axis, if the camera intrinsic parameter error is small, the corresponding multiple standard imaging areas are unchanged. Therefore, the multiple standard imaging areas can be determined as any fixed value S1.

[0092] For another example, as shown in FIG3(b), if multiple reference world coordinates (four reference world coordinates 1-4 are shown in the figure) rise along the direction of gravity at a certain ratio, then since the coordinate values ​​of the Z-axis of the multiple reference world coordinates change incrementally at a fixed ratio, when the reference object is perpendicular to the Z-axis, if the camera intrinsic parameter error is small, the corresponding multiple standard imaging areas are reduced at a certain ratio, and any multiple values ​​that satisfy the reduction ratio are determined to be the corresponding multiple standard imaging areas.

[0093] Step 502 : determining a plurality of actual imaging areas of the reference object in a plurality of reference images, and determining the plurality of actual imaging areas as second coordinate variation parameters.

[0094] It is easy to understand that if the camera intrinsic parameter error is small, then the area value change relationship between the multiple actual imaging areas of multiple reference images must be consistent with the area value change relationship between the multiple standard imaging areas. Therefore, in order to determine the camera intrinsic parameter error, the multiple actual imaging areas of the multiple reference images in the preset dimensions are calculated, and the actual imaging area is determined as the second coordinate change parameter.

[0095] Furthermore, judging whether the second coordinate change parameter is consistent with the first coordinate change parameter corresponds to summarizing the area value change relationship corresponding to multiple actual imaging areas, which is consistent with the area value change relationship corresponding to multiple corresponding standard imaging areas. For example, when multiple standard imaging areas are the same, if the calibrated camera intrinsic parameters are accurate, then the corresponding multiple actual imaging areas should also be basically the same.

[0096] Therefore, in this embodiment, continue to refer to Figure 5 , also includes:

[0097] Step 503: Determine a first area variation function according to a plurality of standard imaging areas.

[0098] It should be understood that the first coordinate change function indirectly summarizes the coordinate change relationship of multiple reference world coordinates under preset shooting conditions. For example, when multiple reference world coordinates correspond to the example in Figure 3(a), and the reference object is located in a direction perpendicular to the Z axis, such as on the ground, then the first area change function M1 = S1, where S1 is an arbitrary constant.

[0099] For another example, when multiple reference world coordinates correspond to the example in Figure 3(b), and the reference object is located in a direction perpendicular to the Z axis, such as on the ground, then the first area change function M1 = S2 + (t-1), where t is the sequence number of the multiple standard imaging areas in the queue after they are arranged in the coordinate order of the corresponding reference world coordinates, and S2 is an arbitrary fixed value.

[0100] Step 304: Determine a second area variation function according to the multiple actual imaging areas.

[0101] In this embodiment, the second area variation function is determined based on a plurality of actual imaging areas. For example, a functional relationship between area values ​​of a plurality of actual imaging areas corresponding to a plurality of standard imaging areas is calculated.

[0102] Step 305: Determine whether the first area change function and the second area change function are consistent.

[0103] In this embodiment, it is determined whether the first area change function and the second area change function are consistent. For example, when the first area change function is M=S1, it is determined whether the second area change function is M2=S2, where S2 is an arbitrary constant value. If not, it is obvious that the first area change function and the second area change function are inconsistent, and it is considered that the camera intrinsic parameter error is large. If M2=S2, it is considered that the camera intrinsic parameter error is small, and the camera intrinsic parameter calibration is successful.

[0104] In this embodiment, since algorithms such as the Simultaneous Localization and Mapping (SLAM) algorithm can accumulate the drift of the previous image, the area drift of the reference object presented in the image will become larger and larger from the first reference image to the last reference image. For example, the camera memory will cause the reference object imaging to become larger and larger, and the actual imaging area of ​​the reference object will become larger and larger intuitively. For example, the camera memory will cause the reference object imaging to become smaller and smaller, and the actual imaging area of ​​the reference object will become smaller and smaller intuitively.

[0105] Therefore, in this embodiment, when the first area change function is M=S1, it is also possible to intuitively determine whether the calibration of the camera intrinsic parameters is successful based on whether the actual imaging area in the reference image is the same.

[0106] For example, when the coordinate relationship of multiple reference world coordinates under preset shooting conditions is as shown in Figure 3(a), and the reference object is a circular object, then when obtaining the corresponding multiple reference images, it can be intuitively determined whether the calibration of the camera intrinsic parameters is successful based on whether the circular images are consistent. If the multiple reference images are as shown in Figure 6(a), and the actual imaging area of ​​the circular object in the multiple corresponding reference images is almost unchanged, then the calibration of the camera intrinsic parameters is considered to be successful; if the multiple reference images are as shown in Figure 6(b), and the actual imaging area of ​​the circular object in the multiple corresponding reference images is obviously getting smaller and smaller, then the calibration of the camera intrinsic parameters is considered to have failed.

[0107] In summary, the calibration and verification method of the camera intrinsic parameters of the embodiment of the present disclosure verifies whether the camera intrinsic parameter calibration is successful through any coordinate change parameter that indirectly or directly reflects the conversion relationship between the reference object from the world coordinates to the pixel coordinates. This verification method is decoupled from the calibration of the camera intrinsic parameters, thereby improving the accuracy of the camera intrinsic parameter verification.

[0108] Based on the above embodiment, in order to reduce the user's learning cost and improve the calibration efficiency of the camera intrinsic parameters, the calibration and verification method of the camera intrinsic parameters can also be deployed to the server (pre-set calibration and verification system). The user can realize the calibration of the camera intrinsic parameters based on the front-end interaction with the server without having to master the specific calibration method.

[0109] In one embodiment of the present disclosure, multiple reference images uploaded by a user through a preset calibration and verification system are obtained, and / or a video containing multiple reference images. That is, in this embodiment, the multiple reference images can be multiple discrete images or can be derived from a video, and continuous image frames in the video are determined to be the corresponding multiple reference images.

[0110] In this embodiment, the user does not need to be aware of the background calibration and verification process. The calibration and verification system only displays the calibration and verification result file package of the camera intrinsic parameters corresponding to multiple reference images, wherein the verification result file package includes the comparison result of the second coordinate change parameter and the first coordinate change parameter. Then, in response to the user's download request for the verification result file package, the verification result file package is downloaded.

[0111] In summary, the calibration and verification method of the camera intrinsic parameters in the embodiment of the present disclosure deploys the calibration and verification method of the camera intrinsic parameters to a preset calibration and verification system. Users can calibrate the camera intrinsic parameters based on the front-end interaction with the server without having to master the specific calibration method, which reduces the user's learning cost and improves the calibration efficiency of the camera intrinsic parameters.

[0112] The following is a detailed description of a camera intrinsic parameter calibration and verification system proposed in an embodiment of the present disclosure. Figure 7 FIG. 1 is a structural diagram of a camera intrinsic parameter calibration and verification system proposed in the present disclosure, such as Figure 7As shown, the camera intrinsic parameter calibration and verification system includes: an upload unit 710, a processing unit 720 and a result feedback unit 730, wherein,

[0113] The uploading unit 710 is used to receive multiple reference images uploaded by a user to the calibration verification system, and / or a video containing multiple reference images, wherein the multiple reference images are taken by a target camera with calibrated camera intrinsic parameters under multiple reference world coordinates under preset shooting conditions.

[0114] In one embodiment of the present disclosure, in order to facilitate user operation, the upload unit 710 also provides a visual front-end upload operation interface for users to upload images or videos. For example, as shown in Figure 8(a), the upload operation interface contains multiple reference images and / or video upload controls. When the upload control is triggered, multiple reference images of reference objects taken at multiple reference world coordinates under preset shooting conditions can be uploaded.

[0115] Furthermore, the processing unit 720 executes the calibration and verification process of the camera intrinsic parameters in this embodiment in the background, determines the first coordinate change parameters corresponding to multiple reference world coordinates according to the preset shooting conditions, and determines the second coordinate change parameters of multiple reference images according to the preset algorithm, and generates a verification message indicating that the camera intrinsic parameter calibration is successful when it is determined that the second coordinate change parameters are consistent with the first coordinate change parameters.

[0116] After the verification is completed, the result feedback unit 730 can directly visualize the verification result on the verification result display interface through front-end visualization. For example, as shown in Figure 8(b), when verifying that the second coordinate change parameter is consistent with the first coordinate change parameter, a verification message of "calibration successful" is displayed. The user does not need to master the specific verification method to perform calibration verification of the camera parameters, which reduces the learning cost of calibration verification of camera intrinsic parameters, improves the efficiency of calibration verification of camera intrinsic parameters, and provides technical support for large-scale calibration verification of camera intrinsic parameters.

[0117] In this embodiment, the result feedback unit 730 can also directly display the verification results to the user in the form of a file package on the relevant interface. When the calibration and verification algorithm of the camera intrinsic parameters is deployed on the system side, the large-scale operation of the calibration and verification of the camera intrinsic parameters can be realized, so that the verification results can be displayed to the user in the form of a file package.

[0118] As shown in Figure 8(c), on the verification result interface, multiple verification result file packages are provided. The name of each verification result file package may include a character mark indicating whether the verification is successful, and each verification result file package includes a download control. The verification result file package can be downloaded through the download control. The verification result file package may include the second coordinate change parameter, the first coordinate change parameter, and the coordinate change parameter difference corresponding to the target camera. In this embodiment, the verification result file package can be downloaded in response to the user's download request for the verification result file package.

[0119] In summary, the camera intrinsic parameter calibration and verification system of the embodiment of the present disclosure interacts with the user in the calibration of the camera intrinsic parameters in a front-end visual manner, and deploys the camera intrinsic parameter calibration and verification algorithm to the system end, which can realize the large-scale operation of the camera intrinsic parameter calibration and verification.

[0120] Figure 9 This is a schematic diagram of the structure of a camera intrinsic parameter calibration and verification device provided by an embodiment of the present disclosure. The device can be implemented by software and / or hardware and can generally be integrated into an electronic device for camera intrinsic parameter calibration and verification. Figure 9 As shown, the device includes: an acquisition module 910, a determination module 920, a judgment module 930 and a verification feedback module 940, wherein,

[0121] An acquisition module 910 is configured to acquire a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters;

[0122] a determination module 920 for determining first coordinate change parameters corresponding to a plurality of reference world coordinates according to a preset shooting condition, and determining second coordinate change parameters of a plurality of reference images according to a preset algorithm;

[0123] A judgment module 930 is used to judge whether the second coordinate change parameter is consistent with the first coordinate change parameter;

[0124] The verification feedback module 940 is configured to feedback a verification message indicating that the camera intrinsic parameter calibration is successful when the second coordinate change parameter is consistent with the first coordinate change parameter.

[0125] The camera intrinsic parameter calibration and verification device provided in the embodiment of the present disclosure can execute the camera intrinsic parameter calibration and verification method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0126] In order to implement the above embodiments, the present disclosure also proposes a computer program product, including a computer program / instruction, which, when executed by a processor, implements the calibration and verification method of the camera intrinsic parameters in the above embodiments.

[0127] Figure 10 A schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.

[0128] The following specific reference Figure 10 , which shows a schematic structural diagram of an electronic device 1000 suitable for implementing the embodiments of the present disclosure. The electronic device 1000 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 10 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0129] like Figure 10 As shown, the electronic device 1000 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of the electronic device 1000 are also stored in the RAM 1003. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0130] Typically, the following devices may be connected to the I / O interface 1005: an input device 1006 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1008 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the electronic device 1000 to communicate with other devices wirelessly or by wire to exchange data. Figure 10 The electronic device 1000 is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0131] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1008, or installed from the ROM 902. When the computer program is executed by the processing device 1001, the aforementioned functions defined in the camera intrinsic parameter calibration and verification method of the embodiments of the present disclosure are performed.

[0132] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0133] In some embodiments, the client and server can communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0134] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0135] The computer-readable medium carries one or more programs. When executed by the electronic device, the electronic device: obtains multiple reference images captured by a target camera under preset shooting conditions and multiple reference world coordinates, wherein the target camera has calibrated camera intrinsic parameters; determines first coordinate change parameters corresponding to the multiple reference world coordinates according to the preset shooting conditions, and determines second coordinate change parameters for the multiple reference images according to a preset algorithm; determines whether the second coordinate change parameters are consistent with the first coordinate change parameters; and if the second coordinate change parameters are consistent with the first coordinate change parameters, feedback is provided with a verification message indicating successful camera intrinsic calibration. Thus, the calibration and verification of camera intrinsic parameters are decoupled, the accuracy of camera intrinsic parameter calibration verification is improved, and the calibration verification of camera intrinsic parameters is automated, providing technical support for achieving efficient camera intrinsic parameter calibration.

[0136] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0139] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0140] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0141] According to one or more embodiments of the present disclosure, the present disclosure provides a method for calibrating and verifying camera intrinsic parameters, including:

[0142] Acquire a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters;

[0143] Determining first coordinate change parameters corresponding to the plurality of reference world coordinates according to the preset shooting conditions, and determining second coordinate change parameters of the plurality of reference images according to a preset algorithm;

[0144] determining whether the second coordinate change parameter is consistent with the first coordinate change parameter;

[0145] If the second coordinate change parameter is consistent with the first coordinate change parameter, a verification message indicating that the camera intrinsic parameter calibration is successful is fed back.

[0146] According to one or more embodiments of the present disclosure,

[0147] Before acquiring a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, the method includes:

[0148] Capturing a calibration image of a preset calibration object by the target camera, wherein the preset calibration object includes calibration points;

[0149] Acquire the standard world coordinates of the calibration points and the image coordinates of the calibration points in the calibration image;

[0150] The camera intrinsic parameters are calculated according to the standard world coordinates and the image coordinates.

[0151] According to one or more embodiments of the present disclosure, the preset shooting conditions include:

[0152] A coordinate change condition of at least one preset dimension of the multiple reference world coordinates.

[0153] According to one or more embodiments of the present disclosure, the coordinate change condition includes:

[0154] The condition that the coordinate value of the preset dimension is fixed; or,

[0155] The coordinate values ​​of the preset dimensions are incremented according to the same increment value.

[0156] According to one or more embodiments of the present disclosure, determining first coordinate change parameters corresponding to the multiple reference world coordinates according to preset shooting conditions, and determining second coordinate change parameters of the multiple reference images according to a preset algorithm, includes:

[0157] Calculating a plurality of first coordinate values ​​of the plurality of preset world coordinates in a preset dimension according to the preset shooting condition, and determining the plurality of first coordinate values ​​of the preset dimension as the first coordinate change parameter;

[0158] A plurality of second coordinate values ​​of the plurality of reference images in the preset dimension are calculated according to a preset algorithm, and second coordinate change parameters of the plurality of second coordinate values ​​in the preset dimension are determined.

[0159] According to one or more embodiments of the present disclosure, determining whether the second coordinate change parameter is consistent with the first coordinate change parameter includes:

[0160] Determining a first coordinate change function according to the plurality of first coordinate values ​​under the preset dimension;

[0161] determining a second coordinate change function according to the plurality of second coordinate values ​​under the preset dimension;

[0162] Determine whether the first coordinate change function and the second coordinate change function are consistent.

[0163] According to one or more embodiments of the present disclosure, determining first coordinate change parameters corresponding to the multiple reference world coordinates according to preset shooting conditions, and determining second coordinate change parameters of the multiple reference images according to a preset algorithm, includes:

[0164] determining a plurality of standard imaging areas corresponding to the plurality of reference world coordinates of the photographed reference object under the preset photographing conditions, and determining the plurality of standard imaging areas as the first coordinate change parameters;

[0165] Determine a plurality of actual imaging areas of the photographed reference object in the plurality of reference images, and determine the plurality of actual imaging areas as the second coordinate change parameter.

[0166] According to one or more embodiments of the present disclosure, determining whether the second coordinate change parameter is consistent with the first coordinate change parameter includes:

[0167] determining a first area change function according to the plurality of standard imaging areas;

[0168] determining a second area change function according to the multiple actual imaging areas;

[0169] Determine whether the first area change function and the second area change function are consistent.

[0170] According to one or more embodiments of the present disclosure, after determining whether the second coordinate change parameter is consistent with the first coordinate change parameter, the method further includes:

[0171] If the second coordinate change parameter is inconsistent with the first coordinate change parameter, calculating a coordinate change parameter difference between the second coordinate change parameter and the first coordinate change parameter;

[0172] The camera intrinsic parameters are corrected according to the coordinate change parameter difference.

[0173] According to one or more embodiments of the present disclosure, acquiring a plurality of reference images captured by a target camera at a plurality of reference world coordinates under preset shooting conditions includes:

[0174] The multiple reference images uploaded by the user through a preset calibration verification system and / or the video containing the multiple reference images are obtained.

[0175] According to one or more embodiments of the present disclosure, the method further includes:

[0176] Displaying, by the calibration verification system, a calibration verification result file package of the camera intrinsic parameters corresponding to the plurality of reference images, wherein the verification result file package includes a comparison result of the second coordinate change parameter and the first coordinate change parameter;

[0177] In response to a user's request to download the verification result file package, the verification result file package is downloaded.

[0178] According to one or more embodiments of the present disclosure, the present disclosure provides a calibration and verification device for camera intrinsic parameters, including:

[0179] an acquisition module, configured to acquire a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters;

[0180] a determination module, configured to determine first coordinate change parameters corresponding to the plurality of reference world coordinates according to the preset shooting conditions, and to determine second coordinate change parameters of the plurality of reference images according to a preset algorithm;

[0181] a judging module, configured to judge whether the second coordinate change parameter is consistent with the first coordinate change parameter;

[0182] The verification feedback module is used to feedback a verification message indicating that the camera intrinsic parameter calibration is successful when the second coordinate change parameter is consistent with the first coordinate change parameter.

[0183] According to one or more embodiments of the present disclosure, the camera intrinsic parameter calibration and verification device provided by the present disclosure further includes: a calibration module for:

[0184] Capturing a calibration image of a preset calibration object by the target camera, wherein the preset calibration object includes calibration points;

[0185] Acquire the standard world coordinates of the calibration points and the image coordinates of the calibration points in the calibration image;

[0186] The camera intrinsic parameters are calculated according to the standard world coordinates and the image coordinates.

[0187] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the preset shooting conditions include:

[0188] A coordinate change condition of at least one preset dimension of the multiple reference world coordinates.

[0189] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the coordinate change condition includes:

[0190] The condition that the coordinate value of the preset dimension is fixed; or,

[0191] The coordinate values ​​of the preset dimensions are incremented according to the same increment value.

[0192] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the determination module is specifically configured to:

[0193] Calculating a plurality of first coordinate values ​​of the plurality of preset world coordinates in a preset dimension according to the preset shooting condition, and determining the plurality of first coordinate values ​​of the preset dimension as the first coordinate change parameter;

[0194] A plurality of second coordinate values ​​of the plurality of reference images in the preset dimension are calculated according to a preset algorithm, and second coordinate change parameters of the plurality of second coordinate values ​​in the preset dimension are determined.

[0195] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the judgment module is specifically configured to:

[0196] Determining a first coordinate change function according to the plurality of first coordinate values ​​under the preset dimension;

[0197] determining a second coordinate change function according to the plurality of second coordinate values ​​under the preset dimension;

[0198] Determine whether the first coordinate change function and the second coordinate change function are consistent.

[0199] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the determination module is specifically configured to:

[0200] determining a plurality of standard imaging areas corresponding to the plurality of reference world coordinates of the photographed reference object under the preset photographing conditions, and determining the plurality of standard imaging areas as the first coordinate change parameters;

[0201] Determine a plurality of actual imaging areas of the photographed reference object in the plurality of reference images, and determine the plurality of actual imaging areas as the second coordinate change parameter.

[0202] According to one or more embodiments of the present disclosure, in the camera intrinsic parameter calibration and verification device provided by the present disclosure, the judgment module is specifically configured to:

[0203] determining a first area change function according to the plurality of standard imaging areas;

[0204] determining a second area change function according to the multiple actual imaging areas;

[0205] Determine whether the first area change function and the second area change function are consistent.

[0206] According to one or more embodiments of the present disclosure, the camera intrinsic parameter calibration and verification device provided by the present disclosure further includes:

[0207] a calculation module, configured to calculate a coordinate change parameter difference between the second coordinate change parameter and the first coordinate change parameter when the second coordinate change parameter is inconsistent with the first coordinate change parameter;

[0208] A correction module is used to correct the camera intrinsic parameters according to the coordinate change parameter difference.

[0209] According to one or more embodiments of the present disclosure, the camera intrinsic parameter calibration and verification device provided by the present disclosure further includes:

[0210] The uploading module is used to obtain the multiple reference images uploaded by the user through a preset calibration verification system, and / or the video containing the multiple reference images.

[0211] According to one or more embodiments of the present disclosure, the camera intrinsic parameter calibration and verification device provided by the present disclosure further includes:

[0212] A download module is configured to display, through the calibration verification system, a calibration verification result file package of the camera intrinsic parameters corresponding to the multiple reference images, wherein the verification result file package includes a comparison result between the second coordinate change parameter and the first coordinate change parameter, and download the verification result file package in response to a user's download request for the verification result file package.

[0213] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, including:

[0214] processor;

[0215] a memory for storing instructions executable by the processor;

[0216] The processor is configured to read the executable instructions from the memory and execute the instructions to implement any camera intrinsic parameter calibration and verification method provided in the present disclosure.

[0217] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute any of the camera intrinsic parameter calibration and verification methods provided by the present disclosure.

[0218] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0219] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0220] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A calibration and verification method for camera intrinsic parameters, characterized in that: The following steps are involved: Acquire a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters; Determining first coordinate change parameters corresponding to the plurality of reference world coordinates according to the preset shooting conditions, and determining second coordinate change parameters of the plurality of reference images according to a preset algorithm; determining whether the second coordinate change parameter is consistent with the first coordinate change parameter; If the second coordinate change parameter is consistent with the first coordinate change parameter, a verification message indicating that the camera intrinsic parameter calibration is successful is fed back.

2. The method according to claim 1, wherein Before acquiring a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, the method includes: Capturing a calibration image of a preset calibration object by the target camera, wherein the preset calibration object includes calibration points; Acquire the standard world coordinates of the calibration points and the image coordinates of the calibration points in the calibration image; The camera intrinsic parameters are calculated according to the standard world coordinates and the image coordinates.

3. The method according to claim 1, wherein The preset shooting conditions include: A coordinate change condition of at least one preset dimension of the multiple reference world coordinates.

4. The method according to claim 3, wherein The coordinate change conditions include: The condition that the coordinate value of the preset dimension is fixed; or, The coordinate values ​​of the preset dimensions are incremented according to the same increment value.

5. The method according to claim 1, wherein The determining of first coordinate change parameters corresponding to the plurality of reference world coordinates according to a preset shooting condition, and determining second coordinate change parameters of the plurality of reference images according to a preset algorithm, includes: Calculating a plurality of first coordinate values ​​of the plurality of reference world coordinates in a preset dimension according to the preset shooting condition, and determining the plurality of first coordinate values ​​of the preset dimension as the first coordinate change parameter; A plurality of second coordinate values ​​of the plurality of reference images in the preset dimension are calculated according to a preset algorithm, and second coordinate change parameters of the plurality of second coordinate values ​​in the preset dimension are determined.

6. The method according to claim 5, wherein The determining whether the second coordinate change parameter is consistent with the first coordinate change parameter includes: Determining a first coordinate change function according to the plurality of first coordinate values ​​under the preset dimension; Determining a second coordinate change function according to the plurality of second coordinate values ​​under the preset dimension; Determine whether the first coordinate change function and the second coordinate change function are consistent.

7. The method according to claim 1, wherein The determining of first coordinate change parameters corresponding to the plurality of reference world coordinates according to a preset shooting condition, and determining second coordinate change parameters of the plurality of reference images according to a preset algorithm, includes: determining a plurality of standard imaging areas corresponding to the plurality of reference world coordinates of the photographed reference object under the preset photographing conditions, and determining the plurality of standard imaging areas as the first coordinate change parameters; Determine a plurality of actual imaging areas of the photographed reference object in the plurality of reference images, and determine the plurality of actual imaging areas as the second coordinate change parameter.

8. The method according to claim 7, wherein The determining whether the second coordinate change parameter is consistent with the first coordinate change parameter includes: determining a first area change function according to the plurality of standard imaging areas; determining a second area change function according to the multiple actual imaging areas; Determine whether the first area change function and the second area change function are consistent.

9. The method according to claim 1, wherein After determining whether the second coordinate change parameter is consistent with the first coordinate change parameter, the method further includes: If the second coordinate change parameter is inconsistent with the first coordinate change parameter, calculating a coordinate change parameter difference between the second coordinate change parameter and the first coordinate change parameter; The camera intrinsic parameters are corrected according to the coordinate change parameter difference.

10. The method according to claim 1, wherein The step of obtaining a plurality of reference images captured by a target camera at a plurality of reference world coordinates under preset shooting conditions includes: The multiple reference images uploaded by the user through a preset calibration verification system and / or the video containing the multiple reference images are obtained.

11. The method according to claim 10, wherein The method further comprises: Displaying, by the calibration verification system, a calibration verification result file package of the camera intrinsic parameters corresponding to the plurality of reference images, wherein the verification result file package includes a comparison result of the second coordinate change parameter and the first coordinate change parameter; In response to a user's download request for the verification result file package, the verification result file package is downloaded.

12. A calibration and verification device for camera intrinsic parameters, characterized in that: include: an acquisition module, configured to acquire a plurality of reference images captured by a target camera under a plurality of reference world coordinates under preset shooting conditions, wherein the target camera has calibrated camera intrinsic parameters; a determination module, configured to determine first coordinate change parameters corresponding to the plurality of reference world coordinates according to the preset shooting conditions, and to determine second coordinate change parameters of the plurality of reference images according to a preset algorithm; a judging module, configured to judge whether the second coordinate change parameter is consistent with the first coordinate change parameter; The verification feedback module is used to feedback a verification message indicating that the camera intrinsic parameter calibration is successful when the second coordinate change parameter is consistent with the first coordinate change parameter.

13. A camera intrinsic parameter calibration and verification system, characterized in that: The calibration verification system includes an uploading unit, a processing unit and a result feedback unit. The uploading unit is configured to receive a plurality of reference images uploaded by a user to the calibration verification system, and / or a video containing the plurality of reference images, wherein the plurality of reference images are captured by a target camera with calibrated camera intrinsic parameters under a plurality of reference world coordinates under preset shooting conditions; The processing unit is configured to determine first coordinate change parameters corresponding to the plurality of reference world coordinates according to the preset shooting conditions, determine second coordinate change parameters of the plurality of reference images according to a preset algorithm, and generate a verification message indicating successful camera intrinsic parameter calibration when it is determined that the second coordinate change parameters are consistent with the first coordinate change parameters; The result feedback unit is used to feed back the verification message.

14. The system according to claim 13, wherein: The result feedback unit is further used to: Displaying a verification result file package corresponding to the verification message, wherein the verification result file package includes a comparison result between the second coordinate change parameter and the first coordinate change parameter; In response to a user's download request for the verification result file package, the verification result file package is downloaded.

15. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the camera intrinsic parameter calibration and verification method described in any one of claims 1 to 11.

16. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the calibration and verification method of the camera intrinsic parameters described in any one of claims 1 to 11 is implemented.

Images