Method, apparatus, and device for calibrating height and pitch of a camera

Abstract

The application provides a method, device and equipment for calibrating height and pitch angle of a camera, which comprises: obtaining a preset area photographed by the camera, the preset area containing a calibration light source for generating a calibration light spot along a first direction; obtaining a first image of the preset area photographed by the camera; when the calibration light spot exists in the first image, determining height H0 of the camera, distance δy between the calibration light spot and the center of the first image, and focal length f of the camera; and determining the pitch angle of the camera based on a trigonometric function of the distance δy and the focal length f. The method can accurately calibrate the height and the pitch angle of the camera without measuring the horizontal distance between the camera and the calibration light source, and has a simple calibration process and high calibration precision.

Description

Technical Field

[0001] This invention relates to the field of camera device calibration technology, and specifically to a method, apparatus, and equipment for calibrating the height and pitch angle of a camera device. Background Technology

[0002] In ranging techniques such as monocular ranging, it is usually necessary to calibrate parameters such as the height and pitch angle of the camera device to enhance the accuracy of the ranging.

[0003] However, in related technologies, the calibration of parameters such as the height and pitch angle of the camera device is inaccurate, which limits its application. Furthermore, the calibration of these parameters requires the horizontal distance between the camera device and the calibration object; however, the position of the imaging element in the camera device cannot be directly obtained, leading to potential errors in the measured horizontal distance. This results in inaccurate calibration of the height and pitch angle, further affecting its application. Summary of the Invention

[0004] The present invention provides a method, apparatus, device and storage medium for calibrating the height and pitch angle of a camera device. The method can accurately calibrate the height and pitch angle of the camera device.

[0005] In a first aspect, embodiments of the present invention provide a method for calibrating the height and pitch angle of a camera device, comprising:

[0006] The camera device captures a preset area, which includes a calibration light source. The calibration light source is used to generate a calibration spot along a first direction.

[0007] Acquire a first image of the preset area captured by the camera device;

[0008] When the calibration spot is present in the first image, determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device;

[0009] The pitch angle of the camera device is determined based on the trigonometric functions of the distance δy and the focal length f.

[0010] According to any of the foregoing embodiments of the first aspect of the present invention, after acquiring the first image of the preset area captured by the camera device, the method further includes:

[0011] Within the preset area, the calibration light source is moved along the second direction.

[0012] According to any of the foregoing embodiments of the first aspect of the present invention, determining the height H0 of the imaging device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the imaging device when the calibration spot is present in the first image includes:

[0013] Based on the first image, obtain the image frame when the light intensity and area of ​​the calibration spot are at their maximum;

[0014] Based on the image frame, the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device are determined.

[0015] According to any of the foregoing embodiments of the first aspect of the present invention, determining the height H0 of the camera device based on the image frame includes:

[0016] Convert the image frames into corresponding times;

[0017] The height H0 of the camera device is determined based on the height value corresponding to the time.

[0018] According to any of the foregoing embodiments of the first aspect of the present invention, the trigonometric function is an inverse trigonometric function.

[0019] According to any of the foregoing embodiments of the first aspect of the present invention, the inverse trigonometric function includes the arctangent trigonometric function.

[0020] Secondly, embodiments of the present invention provide a calibration device, comprising:

[0021] The first acquisition module is used to acquire a preset area captured by the camera device, wherein the preset area includes a calibration light source, and the calibration light source is used to generate a calibration light spot along a first direction;

[0022] The second acquisition module is used to acquire a first image of the preset area captured by the camera device;

[0023] The first determining module is used to determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device when the calibration spot exists in the first image.

[0024] The second determining module is used to determine the pitch angle of the camera device based on a trigonometric function of the distance δy and the focal length f.

[0025] According to any of the foregoing embodiments of the second aspect of the present invention, the calibration device further includes;

[0026] A moving module is used to drive the calibration light source to move along a second direction within the preset area.

[0027] Thirdly, embodiments of the present invention provide a calibration device, comprising:

[0028] processor;

[0029] A memory storing computer program instructions, wherein the processor, when executing the computer program instructions, implements the method as described in any of the foregoing embodiments of the first aspect of the present invention.

[0030] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing executable instructions that, when executed by a processor, cause the processor to perform the method described in any of the foregoing embodiments of the first aspect of the present invention.

[0031] The method for calibrating the height and pitch angle of a camera device provided in this invention involves: acquiring a preset area captured by the camera device, the preset area including a calibration light source used to generate a calibration spot along a first direction; acquiring a first image of the preset area captured by the camera device; when the calibration spot exists in the first image, determining the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device; and determining the pitch angle of the camera device based on trigonometric functions of the distance δy and the focal length f. In this method, the height and pitch angle of the camera device can be accurately calibrated without measuring the horizontal distance between the camera device and the calibration light source, resulting in a simple calibration process and high calibration accuracy.

[0032] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0034] Figure 1 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0035] Figure 2 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0036] Figure 3A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to other embodiments of the present invention is shown.

[0037] Figure 4 A schematic diagram is shown illustrating the timing of calibrating a camera device using an embodiment of the present invention;

[0038] Figure 5 It shows Figure 4 The first image captured by the camera device;

[0039] Figure 6 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0040] Figure 7 The diagram shows a schematic representation of the calibration device provided in some embodiments of the present invention;

[0041] Figure 8 The diagram shows a schematic representation of the calibration device provided in some embodiments of the present invention;

[0042] Figure 9 A schematic diagram of the calibration device provided in some embodiments of the present invention is shown.

[0043] The reference numerals in the detailed embodiments are as follows:

[0044] 100 - Calibration device; 101 - First acquisition module; 102 - Second acquisition module; 103 - First determination module; 104 - Second determination module; 105 - Moving module;

[0045] 200-Calibration device, 201-Processor, 202-Memory, 203-Communication interface, 204-Bus. Detailed Implementation

[0046] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the invention, are intended to cover non-exclusive inclusion.

[0048] In the description of the embodiments of this invention, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this invention, "multiple" means two or more, unless otherwise explicitly defined.

[0049] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0050] In the description of the embodiments of this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0051] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "lateral", "length", "width", "wall thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0052] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0053] The present invention provides a method, apparatus, device and storage medium for calibrating the height and pitch angle of a camera device. The method can accurately calibrate the height and pitch angle of the camera device.

[0054] Figure 1 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0055] Please refer to Figure 1 This invention provides a method for calibrating the height and pitch angle of a camera device, comprising:

[0056] S10: Acquire a preset area captured by the camera device, the preset area containing a calibration light source, the calibration light source being used to generate a calibration light spot along a first direction;

[0057] S20: Acquire a first image of a preset area captured by a camera device;

[0058] S40: When a calibration spot exists in the first image, determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device;

[0059] S50: Determine the pitch angle of the camera device based on trigonometric functions of distance δy and focal length f.

[0060] In this invention, the first direction can be understood as the X direction known in the art, while the second direction in the following description can be understood as the Y direction known in the art.

[0061] When the calibration spot generated by the calibration light source along the first direction appears in the first image, the height of the calibration light source from the reference ground is the height H0 of the camera device. Furthermore, the distance δy between the calibration spot and the center of the first image can be obtained through measurement or other conventional means, where δy refers to the distance between the center of the first image and the center of the calibration spot.

[0062] In the method for calibrating the height and pitch angle of a camera device provided in the embodiments of the present invention, the height and pitch angle of the camera device can be accurately calibrated without measuring the horizontal distance between the camera device and the calibration light source. Moreover, the method is simple and has high calibration accuracy.

[0063] In embodiments of the present invention, a calibration light source is used to generate a calibration light spot along a first direction, and the calibration light spot can be realized by a light guide component. In some embodiments of the present invention, the calibration light source can be installed inside the light guide component or outside the light guide component, the light guide component having a light guide channel, as long as the calibration light source and the light guide channel are arranged opposite each other along the X direction.

[0064] The light guide component has a light guide channel that guides the light emitted from the calibration light source to exit along the X direction and enter the image plane of the imaging device to achieve calibration. In the embodiments of the present invention, the shape of the light guide channel can be any known shape, such as square, circular, elliptical, strip, etc., and the embodiments of the present invention are not particularly limited herein.

[0065] In some embodiments of the present invention, the light guiding component includes a main body and a connecting portion. The main body has a light guiding channel. The connecting portion connects the main body and other components.

[0066] The light guide channel can partially or completely penetrate the main body along the X-direction, allowing the light emitted from the calibration light source to exit horizontally through the light guide channel, which helps to make the height calibration of the imaging device more accurate. The connecting part can be any component with a connecting function known in the art.

[0067] In some embodiments of the present invention, the main body has a receiving cavity for accommodating a calibration light source, the receiving cavity having a first opening and a second opening, and the receiving cavity communicating with a light guide channel through the first opening.

[0068] The housing cavity serves to protect the calibration light source. The housing cavity has a first opening and a second opening. The first opening connects the housing cavity to the light guide channel, allowing light emitted from the calibration light source within the housing cavity to enter the light guide channel. Furthermore, the second opening facilitates the installation and replacement of the calibration light source.

[0069] In the above embodiments, the shape and volume of the receiving cavity can be designed according to the shape and volume of the calibration light source. For example, if the calibration light source is circular, the shape of the receiving cavity can be designed to be circular.

[0070] Furthermore, in some embodiments of the present invention, the light guide component further includes an encapsulation portion for encapsulating the second opening. This not only better protects the calibration light source but also reduces light leakage.

[0071] In this invention, the encapsulation part can be any encapsulated component known in the art, such as a cover or encapsulating adhesive, etc., and the embodiments of this invention do not specifically limit it.

[0072] In addition, in some examples, the main body can be a pipe, such as a square or round tube. The main body can also be a box. Furthermore, the main body includes sidewalls that enclose a light-guiding channel, and these sidewalls are made of an opaque material.

[0073] Please refer to Figure 2 , Figure 2 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0074] like Figure 2 As shown, in some other embodiments of the present invention, after step 20, the method further includes:

[0075] S30: Move the calibration light source along the second direction within the preset area.

[0076] Step S30 allows for the calibration of different camera devices' heights and pitch angles, thus broadening the application of this method.

[0077] In the above embodiments, step S30 can be implemented using a lifting component. In some embodiments of the present invention, the lifting component includes a support base, a lifting part, and a driving part. The support base has a lifting groove. The lifting part is movably disposed in the lifting groove along a second direction and is connected to the light guide component. The driving part is drivenly connected to the lifting part to drive the lifting component to move. The lifting component has a simple structure and can quickly move the light guide component and the calibration light source, shortening the calibration time.

[0078] In this invention, the lifting component and the light guide component can be fixedly connected or detachably connected. In some embodiments of this invention, the connecting portion of the light guide component is detachably connected to the lifting component. This facilitates the assembly and maintenance of the calibration device.

[0079] In this invention, detachable connection refers to connecting two components together by means of detachable and / or removable connection methods such as bonding, snap-fitting, riveting, threaded connection, interference fit, etc., and the connection between the two can be removed without damaging or destroying the components by means of heating, pulling, pressing, impact, vibration, etc., so as to facilitate the replacement and recycling of the components.

[0080] In some embodiments of the present invention, the connecting part is threadedly connected to the lifting component. Thus, connection or disconnection can be achieved simply by rotating either the connecting part or the lifting component.

[0081] In some specific embodiments of the present invention, the connecting part is provided with a screw hole, which has an internal thread, and the lifting component has an external thread, so that the connecting part and the lifting component can be threadedly connected through the internal thread and the external thread.

[0082] In some embodiments of the present invention, the lifting component is provided with a distance scale for measuring the distance between the light guide component and the horizontal plane along a second direction (i.e., the Y direction). The distance scale facilitates the measurement of the height of the light guide component from the horizontal plane and ensures accurate measurement of the distance between the light guide component and the horizontal plane, thereby helping to further improve the accuracy of the calibration.

[0083] In some embodiments of the present invention, the lifting part includes a lifting rod and a transmission rack. The lifting rod is provided with distance markings. The transmission rack is disposed on one side of the lifting rod and meshes with the drive part.

[0084] Driven by a transmission rack, the lifting rod can move up and down along the lifting groove. The lifting rod is equipped with distance scales, which allows for quick measurement of the height distance between the light guide component and the horizontal plane. In other words, this allows for quick calibration of the camera device's height.

[0085] In some embodiments of the present invention, the lifting component further includes a connector that is threadedly connected to the connecting portion.

[0086] In some examples, the connector can be a bolt.

[0087] In some embodiments of the present invention, the drive unit includes a gear and a drive member. The gear meshes with a transmission rack. The drive member is connected to the gear in a transmission connection.

[0088] In some embodiments of the present invention, the driving element is a hand crank or a motor.

[0089] Please refer to Figure 3 , Figure 4 and Figure 5 , Figure 3 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device, provided in some other embodiments of the present invention, is shown. Figure 4 A schematic diagram is shown for calibrating a camera device using an embodiment of the present invention. Figure 5 It shows Figure 4 The first image captured by the camera device.

[0090] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments of the present invention, when a calibration spot exists in the first image, the height H0 of the imaging device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the imaging device are determined. That is, step S40 includes:

[0091] S41: Based on the first image, obtain the image frame when the light intensity and area of ​​the calibration spot are at their maximum;

[0092] S42: Based on the image frame, determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device.

[0093] In the above embodiments, based on the first image, obtaining the image frame when the light intensity and area of ​​the calibration spot are at their maximum can make the calibration spot clearly displayed in the first image, thereby enabling accurate measurement of the distance δy between the calibration spot and the center of the first image.

[0094] In some embodiments of the present invention, the trigonometric functions are inverse trigonometric functions.

[0095] Furthermore, in some embodiments of the present invention, the inverse trigonometric function includes the arctangent trigonometric function.

[0096] according to Figure 5 In addition to the internal parameters of the camera device (which can be provided by the camera device manufacturer or calibrated by the user), the following formula can be obtained:

[0097]

[0098] The above formula can be further transformed into the following formula (1), which is the arctangent trigonometric function:

[0099]

[0100] Therefore, the pitch angle θ can be calculated based on the distance δy between the calibrated light spot and the center of the first image and the focal length f of the camera device.

[0101] like Figure 4 As shown, based on the similarity of triangle OAB to OA'B, the following relationship can be obtained:

[0102]

[0103] Based on formula (2), we can further obtain the following formula (3):

[0104]

[0105] In formula (3), y represents the height difference between the calibration light source and the optical center, y0 represents the height difference between the blanking point and the optical center, H represents the height of the calibration light source, H0 represents the height of the camera device, f represents the focal length of the camera device, and d represents the horizontal distance between the calibration light source and the camera device.

[0106] Relation (3) can be further transformed into the following formula (4):

[0107]

[0108] When the pitch angle θ and height H0 of the camera device are fixed, i.e., θ, H0, and y0 are constants, only d and y are variables. Therefore, according to formula (4), if the calibration light source and the camera device are not at the same height, then when the calibration light source is moved horizontally (i.e., when d in formula (4) changes), the calibration light source will be at... Figure 5 The imaging position (i.e., the calibration spot) will change. If the calibration light source and the camera device are at the same height, the position of the calibration spot in the first image will not change if the calibration light source is moved horizontally.

[0109] Therefore, according to formula (4), when H is not equal to H0, y is inversely proportional to the distance between the calibration light source and the camera device. Only when H is equal to H0 is y always equal to y0.

[0110] Further analysis shows that if the height H of the calibration light source is not equal to the height H0 of the camera device, the light F of the calibration light source cannot reach the image plane S. The calibration light source can only be seen in the image of the camera device when the height H of the calibration light source and the height H0 of the camera device are aligned.

[0111] Therefore, the calibrated light source can only be seen in the image formed by the camera device when the height H of the calibrated light source is level with the height H0 of the camera device. Based on this phenomenon, the method for calibrating the height and pitch angle of the camera device provided in this embodiment of the invention can calibrate the height and pitch angle of the camera device simply and accurately.

[0112] Please refer to Figure 6 , Figure 6 A flowchart illustrating a method for calibrating the height and pitch angle of a camera device according to some embodiments of the present invention is shown.

[0113] like Figure 6 As shown, in some embodiments of the present invention, the height H0 of the camera device is determined based on the image frame, i.e., step S42 further includes:

[0114] S421: Convert the image frame into the corresponding time;

[0115] S422: Determine the height H0 of the camera device based on the height value corresponding to the time.

[0116] In the above embodiments, the height H0 of the camera device can be calibrated more accurately through the above steps. The calibration method proposed in this embodiment has a simple calibration process and high calibration accuracy.

[0117] Please refer to Figure 7 , Figure 7 A schematic diagram of the calibration device provided in some embodiments of the present invention is shown.

[0118] like Figure 7As shown, this embodiment of the invention provides a calibration device, including a first acquisition module 101, a second acquisition module 102, a first determination module 103, and a second determination module 104. The first acquisition module 101 is used to acquire a preset area captured by a camera device, the preset area containing a calibration light source, the calibration light source being used to generate a calibration light spot along a first direction. The second acquisition module 102 is used to acquire a first image of the preset area captured by the camera device. The first determination module 103 is used to determine the height H0 of the camera device, the distance δy between the calibration light spot and the center of the first image, and the focal length f of the camera device when a calibration light spot exists in the first image. The second determination module 104 is used to determine the pitch angle of the camera device based on a trigonometric function of the distance δy and the focal length f.

[0119] Please refer to Figure 8 , Figure 8 A schematic diagram of the calibration device provided in some embodiments of the present invention is shown.

[0120] like Figure 8 As shown, in some embodiments of the present invention, the calibration device further includes;

[0121] The moving module 105 is used to drive the calibration light source to move along the second direction within a preset area.

[0122] In some embodiments of the present invention, the first determining module 103 is further configured to acquire an image frame when the light intensity and area of ​​the calibration spot are at their maximum based on the first image, and to determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device based on the image frame.

[0123] In some embodiments of the present invention, the first determining module 103 may also be used to convert the image frame into the corresponding time, and to determine the height H0 of the camera device according to the height value corresponding to the time.

[0124] Please refer to Figure 9 , Figure 9 A schematic diagram of the calibration device provided in some embodiments of the present invention is shown.

[0125] like Figure 9 As shown, this embodiment of the invention provides a calibration device 200, which includes a processor and a memory storing computer program instructions. When the processor executes the computer program instructions, it implements the method for calibrating the height and pitch angle of a camera device as described in any of the above embodiments.

[0126] Specifically, the processor 201 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The memory 202 may include a mass storage device for data or instructions. Exemplarily, the memory 202 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these.

[0127] In some embodiments of the present invention, the memory 202 may include a removable or non-removable (or fixed) medium.

[0128] In some embodiments of the present invention, the memory 202 may also be located inside or outside the integrated gateway disaster recovery device.

[0129] In some specific embodiments of the present invention, memory 202 is a non-volatile solid-state memory.

[0130] In some other embodiments of the present invention, memory 202 includes read-only memory (ROM).

[0131] For example, the ROM described above may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0132] The processor 201 implements any of the online acquisition methods described in the above embodiments by reading and executing computer program instructions stored in the memory 202.

[0133] In some embodiments of the present invention, the online acquisition device for electrode weight loss rate may further include a communication interface 203 and a bus 204. For example, Figure 9 As shown, the processor 201, memory 202, and communication interface 203 are connected through bus 204 and complete communication with each other.

[0134] The communication interface 203 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of the present invention.

[0135] Bus 204 includes hardware, software, or both, that couples components of a compensation voltage determination device together. For example, bus 204 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these.

[0136] In some embodiments of the invention, bus 204 may include one or more buses. Although specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0137] The calibration device 200 can perform the method for calibrating the height and pitch angle of the camera device in the embodiments of the present invention, thereby achieving a combination Figure 1 , 2 The online acquisition method and online acquisition device described in sections 3 and 6.

[0138] This invention provides a computer-readable storage medium storing executable instructions that, when executed by a processor, cause the processor to perform a method for calibrating the height and pitch angle of a camera device as described in any of the above embodiments.

[0139] The aforementioned computer-readable storage media may include read-only memory (ROM), random access memory (RAM), magnetic disks or optical disks, etc., and are not limited thereto.

[0140] For example, a computer-readable storage medium may include a non-transitory readable storage medium.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for calibrating the height and pitch angle of a camera device, characterized in that, include: The camera device captures a preset area, which includes a calibration light source. The calibration light source is used to generate a calibration spot along a first direction. Acquire a first image of the preset area captured by the camera device; after acquiring the first image of the preset area captured by the camera device, the method further includes: moving the calibration light source along a second direction within the preset area, wherein the first direction is the X direction and the second direction is the Y direction; When the calibration spot exists in the first image, an image frame is obtained based on the first image at which the light intensity and area of ​​the calibration spot are at their maximum. Based on the image frame, the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device are determined. The height H0 of the camera device is determined by converting the image frame into a corresponding time and then using the height value corresponding to that time. The pitch angle of the camera device is determined based on a trigonometric function of the distance δy and the focal length f, wherein the trigonometric function is an arctangent trigonometric function.

2. A calibration device, characterized in that, include: The first acquisition module is used to acquire a preset area captured by the camera device, wherein the preset area includes a calibration light source, and the calibration light source is used to generate a calibration light spot along a first direction; The second acquisition module is used to acquire a first image of the preset area captured by the camera device; The first determining module is configured to, when the calibration spot exists in the first image, acquire an image frame based on the first image at which the light intensity and area of ​​the calibration spot are at their maximum, and determine the height H0 of the camera device, the distance δy between the calibration spot and the center of the first image, and the focal length f of the camera device based on the image frame; wherein, the height H0 of the camera device is determined by converting the image frame into a corresponding time and then using the height value corresponding to the time. The second determining module is used to determine the pitch angle of the camera device based on a trigonometric function of the distance δy and the focal length f, wherein the trigonometric function is an arctangent trigonometric function; A moving module is used to drive the calibration light source to move along a second direction within the preset area, wherein the first direction is the X direction and the second direction is the Y direction.

3. A calibration device, characterized in that, include: processor; A memory storing computer program instructions, wherein the processor executes the computer program instructions to implement the method as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable instructions that, when executed by a processor, cause the processor to perform the method as described in claim 1.

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