Adjustment Parameter Determination Method, Device, Electronic Device, and Storage Medium

Abstract

The present disclosure relates to the field of computer technology, and in particular to a method, device, electronic device, and storage medium for determining adjustment parameters. The method for determining adjustment parameters comprises: obtaining a set of images corresponding to a camera array at the same acquisition time point; obtaining initial posture information of any camera in the camera array based on image data corresponding to the image set; determining target posture information corresponding to any camera based on spatial information corresponding to the camera array; and determining an adjustment parameter set for any camera based on the initial posture information corresponding to any camera and the target posture information corresponding to any camera. The present disclosure can improve the accuracy of determining the adjustment parameter set while reducing costs.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a method, device, electronic device, and storage medium for determining an adjustment parameter. Background Art

[0002] With the advancement of science and technology, video has become an indispensable part of our daily lives. In bullet-time videos, adjusting the camera's position and posture is a complex process. Parameters such as camera position, posture, and focal length influence the camera's composition and ultimately directly impact the quality of the finished video. For example, based on real-time images or screenshots of the camera array, a human operator determines whether the position and posture of the cameras in the array need to be adjusted. The cameras are then adjusted based on this manual judgment. However, manual judgments are inaccurate and require collaboration from multiple people, making camera position and posture adjustments costly and inefficient. Summary of the Invention

[0003] The present disclosure provides a method, device, electronic device, and storage medium for determining adjustment parameters to at least address the problems in related technologies where manual judgment results are inaccurate and require collaboration from multiple people, resulting in high costs and low efficiency in adjusting camera position and posture. The technical solutions of the present disclosure are as follows:

[0004] According to a first aspect of an embodiment of the present disclosure, a method for determining an adjustment parameter is provided, including:

[0005] Acquire a set of images corresponding to the camera array at the same acquisition time point;

[0006] Obtaining initial position information of any camera in the camera array according to image data corresponding to the image set;

[0007] Determining target pose information corresponding to any one of the camera devices based on spatial information corresponding to the camera array;

[0008] An adjustment parameter set of any camera device is determined according to the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0009] Optionally, obtaining initial pose information of any camera in the camera array based on image data corresponding to the image set includes:

[0010] The initial position information of any camera in the camera array is obtained according to the image data corresponding to the image set.

[0011] Optionally, the method further includes:

[0012] Acquiring initial position information of at least one camera in the camera array;

[0013] Fitting is performed on the initial position information of the at least one camera device to obtain spatial information corresponding to the camera device array.

[0014] Optionally, the initial position information of any camera device includes a translation vector, and obtaining the initial position information of at least one camera device in the camera device array includes:

[0015] Determining the at least one camera device from all camera devices corresponding to the camera device array according to a selection condition of the camera device;

[0016] Preprocessing is performed on the translation vector in the at least one camera device to obtain initial position information of the at least one camera device.

[0017] Optionally, the spatial information includes a spatial plane and a spatial curve, the target pose information includes target position information, and determining the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array includes:

[0018] Acquiring first position relationship information corresponding to all camera devices in the camera device array;

[0019] Determining serial number information of any one of the camera devices in the camera device array;

[0020] determining, based on the position relationship information and the sequence number information, first target position sub-information of any camera device in the first direction;

[0021] determining second target position sub-information of the any camera device in the second direction according to the second position relationship information between the any camera device and the space curve;

[0022] determining third target position sub-information of the any camera device in the third direction based on third positional relationship information between the any camera device and the spatial plane;

[0023] The first target position sub-information, the second target position sub-information and the third target position sub-information are used as the target position information.

[0024] Optionally, the spatial information includes a spatial plane and a spatial curve, the target pose information includes target posture information, and determining the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array includes:

[0025] determining a target pitch angle corresponding to any one of the camera devices according to a first relationship between the pitch angle corresponding to the at least one camera device and the spatial plane;

[0026] determining a target yaw angle corresponding to any one of the camera devices based on important position parameters of the at least one camera device on the spatial curve and a yaw angle corresponding to the at least one camera device;

[0027] determining a target roll angle corresponding to any one of the camera devices according to a second relationship between the roll angle corresponding to the at least one camera device and the spatial plane;

[0028] The target pitch angle, the target yaw angle, and the target roll angle are used as the target posture information.

[0029] Optionally, the method further includes:

[0030] Determining posture change information of any camera device according to the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device;

[0031] In three-dimensional space, the posture change information is plotted to obtain a visual interface;

[0032] The adjustment parameter set corresponding to any one of the camera devices and the visual interface are used to control the adjustment device to adjust the posture of any one of the camera devices, wherein the adjustment device is used to control the posture of the camera device array.

[0033] According to a second aspect of an embodiment of the present disclosure, there is provided an apparatus for determining an adjustment parameter, including:

[0034] A set acquisition unit is configured to acquire a set of images corresponding to the camera array at the same acquisition time point;

[0035] an information acquisition unit configured to acquire initial position information of any camera in the camera array based on image data corresponding to the image set;

[0036] The information acquisition unit is further configured to determine the target pose information corresponding to any one of the camera devices based on the spatial information corresponding to the camera array;

[0037] The parameter determination unit is configured to determine a set of adjustment parameters of any camera device according to the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0038] Optionally, when the information acquisition unit is configured to acquire the initial pose information of any camera in the camera array based on the image data corresponding to the image set, the information acquisition unit is specifically configured to execute:

[0039] The initial position information of any camera in the camera array is obtained according to the image data corresponding to the image set.

[0040] Optionally, the information acquisition unit is further configured to execute:

[0041] Acquiring initial position information of at least one camera in the camera array;

[0042] Fitting is performed on the initial position information of the at least one camera device to obtain spatial information corresponding to the camera device array.

[0043] Optionally, the initial position information of any camera device includes a translation vector, and the information acquisition unit is configured to execute, when acquiring the initial position information of at least one camera device in the camera device array, specifically configured to execute:

[0044] Determining the at least one camera device from all camera devices corresponding to the camera device array according to a selection condition of the camera device;

[0045] Preprocessing is performed on the translation vector of the at least one camera device to obtain initial position information of the at least one camera device.

[0046] Optionally, the spatial information includes a spatial plane and a spatial curve, the target pose information includes target position information, and the information acquisition unit is configured to determine the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array, and is specifically configured to execute:

[0047] Acquiring first position relationship information corresponding to all camera devices in the camera device array;

[0048] Determining serial number information of any one of the camera devices in the camera device array;

[0049] determining, based on the position relationship information and the sequence number information, first target position sub-information of any camera device in the first direction;

[0050] determining second target position sub-information of the any camera device in the second direction according to the second position relationship information between the any camera device and the space curve;

[0051] determining third target position sub-information of the any camera device in the third direction based on third positional relationship information between the any camera device and the spatial plane;

[0052] The first target position sub-information, the second target position sub-information and the third target position sub-information are used as the target position information.

[0053] Optionally, the spatial information includes a spatial plane and a spatial curve, the target pose information includes target posture information, and the information acquisition unit is configured to determine the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array, and is specifically configured to execute:

[0054] determining a target pitch angle corresponding to any one of the camera devices according to a first relationship between the pitch angle corresponding to the at least one camera device and the spatial plane;

[0055] determining a target yaw angle corresponding to any one of the camera devices based on important position parameters of the at least one camera device on the spatial curve and a yaw angle corresponding to the at least one camera device;

[0056] determining a target roll angle corresponding to any one of the camera devices according to a second relationship between the roll angle corresponding to the at least one camera device and the spatial plane;

[0057] The target pitch angle, the target yaw angle, and the target roll angle are used as the target posture information.

[0058] Optionally, the apparatus further includes a posture adjustment unit configured to perform:

[0059] Determining posture change information of any camera device according to the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device;

[0060] In three-dimensional space, the posture change information is plotted to obtain a visual interface;

[0061] The adjustment parameter set corresponding to any one of the camera devices and the visual interface are used to control the adjustment device to adjust the posture of any one of the camera devices, wherein the adjustment device is used to control the posture of the camera device array.

[0062] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0063] processor;

[0064] a memory for storing instructions executable by the processor;

[0065] The processor is configured to execute the instructions to implement the adjustment parameter determination method described in any one of the aforementioned aspects.

[0066] According to a fourth aspect of the present application, a storage medium is provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the adjustment parameter determination method described in any one of the aforementioned aspects.

[0067] According to a fifth aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements any one of the methods described in the aforementioned aspect when executed by a processor.

[0068] The technical solutions provided by the embodiments of the present disclosure bring at least the following beneficial effects:

[0069] In some or related embodiments, a set of images corresponding to the same acquisition time point corresponding to a camera array is obtained; initial posture information of any camera in the camera array is obtained based on image data corresponding to the image set; target posture information corresponding to any camera is determined based on spatial information corresponding to the camera array; and an adjustment parameter set of any camera is determined based on the initial posture information and target posture information corresponding to any camera in the camera array. Therefore, the adjustment parameter set can be directly determined by the initial posture information and target posture information corresponding to any camera in the camera array, without the need for manual determination of the adjustment parameter set, thereby reducing the situation where the accuracy of manual judgment of the adjustment parameters is low and the need for multiple people to collaborate to determine the adjustment parameters. This can reduce the cost of determining the adjustment parameters of the camera position and posture, improve the efficiency of determining the adjustment parameters, and increase the adjustment range of the camera. Furthermore, the accuracy of determining the adjustment parameter set can be improved while reducing costs.

[0070] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute an improper limitation of the present disclosure.

[0072] Figure 1 is a flow chart showing a method for determining an adjustment parameter according to an exemplary embodiment;

[0073] Figure 2 is a flow chart showing a method for determining an adjustment parameter according to an exemplary embodiment;

[0074] Figure 3 is a schematic diagram showing an example of spatial information according to an exemplary embodiment;

[0075] Figure 4 is a schematic diagram showing an example of spatial information according to an exemplary embodiment;

[0076] Figure 5 is a schematic diagram illustrating an example of a method for determining an adjustment parameter according to an exemplary embodiment;

[0077] Figure 6 This is a schematic diagram showing an example of an interface display of an electronic device according to an exemplary embodiment;

[0078] Figure 7 is a schematic diagram illustrating an example of a method for determining an adjustment parameter according to an exemplary embodiment;

[0079] Figure 8 is a block diagram showing a device for determining an adjustment parameter according to an exemplary embodiment;

[0080] Figure 9 is a block diagram showing a device for determining an adjustment parameter according to an exemplary embodiment;

[0081] Figure 10 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0082] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0083] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as detailed in the appended claims.

[0084] Figure 1 FIG. 1 is a flow chart showing a method for determining an adjustment parameter according to an exemplary embodiment. Figure 1As shown, the adjustment parameter determination method can be used in the scenario of camera device posture adjustment during multi-camera array acquisition. The posture of each camera device in the camera array can be adjusted to quickly complete the construction of a six-degree-of-freedom video acquisition system, collect multi-view original materials that meet the material quality requirements, and generate videos that meet the video quality requirements.

[0085] According to some embodiments, the method may be implemented by a computer program that can be run on a device that determines the adjustment parameters. The computer program can be integrated into an application or run as a standalone tool application.

[0086] The adjustment parameter determination device may be an electronic device with an image processing function, including but not limited to a wearable device, a handheld device, a personal computer, a tablet computer, an in-vehicle device, a smart phone, a computing device, or other processing device connected to a wireless modem. In different networks, electronic devices may be called different names, such as user equipment, access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, cellular phone, cordless phone, personal digital assistant (PDA), fifth generation mobile communication technology (5G) network, fourth generation mobile communication technology (4G) network, third generation mobile communication technology (3G) network, or electronic devices in future evolution networks.

[0087] Specifically, the method includes the following steps:

[0088] In step S11, a set of images corresponding to the camera array and at the same acquisition time point is obtained;

[0089] According to some embodiments, an image set refers to a collection of images captured by different camera devices. All images included in the image set are captured at the same time. In other words, an image set refers to a collection of images captured by different camera devices at the same time. The image set does not specifically refer to a fixed set. For example, when the number of images included in the image set changes, the image set may also change accordingly. For example, when the capture time corresponding to the image set changes, the image set may also change accordingly.

[0090] It is easy to understand that a camera array refers to an arrangement of at least one camera at different locations in space. The camera array includes at least one camera. The camera array does not specifically refer to a fixed array. For example, when the number of cameras corresponding to the camera array changes, the camera array may also change accordingly. For example, when the position corresponding to at least one camera in the camera array changes, the camera array may also change accordingly.

[0091] Optionally, the acquisition time point refers to the time point when the image is acquired. The acquisition time point does not specifically refer to a fixed time point. For example, when the time point at which the electronic device executes the adjustment parameter determination method changes, the acquisition time point may also change accordingly.

[0092] According to some embodiments, when the electronic device executes the adjustment parameter determination method, the electronic device may obtain a set of images corresponding to the camera array at the same acquisition time point.

[0093] In step S12, initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set;

[0094] According to some embodiments, image data is used to indicate the image data corresponding to each image in an image set. Image data includes, but is not limited to, image content and the location of the image content within each image. This image data is not specifically fixed data. For example, when the image set changes, the image data may also change accordingly. For example, when the acquisition time point changes, the image data may also change accordingly.

[0095] According to some embodiments, the disclosed embodiments can be applied to six-degree-of-freedom scenarios. Six degrees of freedom (6DOF) refers to an object having six degrees of freedom in space, namely, the freedom of movement along the x, y, and z coordinate axes and the freedom of rotation about these three axes. Six-degree-of-freedom video means that the viewing angle of a video has multiple degrees of freedom, that is, within a certain range, the user can freely choose the viewing angle to view the scene in the video.

[0096] According to some embodiments, the position and posture of a camera device (which may be referred to as the camera device posture) refers to the position of the camera device in three-dimensional space and the posture it exhibits. The position of the camera device is generally described by the coordinate points of the camera device in three-dimensional space. The posture of the camera device can generally be described by a rotation matrix or Euler angles, and the rotation matrix and Euler angles can be converted to each other. The Euler angles are composed of three angles, namely:

[0097] Pitch Angle refers to the angle of rotation of an object around the X-axis in a three-dimensional coordinate system, and is used to describe the pitch degree of the object.

[0098] Yaw Angle refers to the angle at which an object rotates around the Y-axis in a three-dimensional coordinate system and is used to describe the degree of yaw of the object.

[0099] Roll Angle refers to the angle at which an object rotates around the Z axis in a three-dimensional coordinate system and is used to describe the degree of rotation of an object.

[0100] It is easy to understand that any camera device refers to any camera device in the camera device array. The any camera device does not specifically refer to a fixed camera device. For example, when the device identifier corresponding to any camera device changes, the any camera device may also change accordingly.

[0101] In some embodiments, initial pose information refers to the pose information corresponding to any camera device before any parameter adjustment is performed on the camera array. This initial pose information is not specifically fixed information and may include, for example, initial position information and initial posture information. For example, if the acquisition position of any camera device changes, the initial pose information may also change accordingly.

[0102] According to some embodiments, when executing the adjustment parameter determination method, the electronic device may obtain a set of images corresponding to the camera array at the same acquisition time point. The electronic device may obtain initial pose information of any camera in the camera array based on the image data corresponding to the set of images.

[0103] In step S13, the target pose information corresponding to any camera device is determined based on the spatial information corresponding to the camera array;

[0104] According to some embodiments, the spatial information refers to the position of the camera array in space. The spatial information may include, for example, a spatial curve and a spatial plane.

[0105] It is easy to understand that the target pose information refers to the preset pose information corresponding to any camera in the camera array. The target pose information is not specifically fixed information and can include, for example, target position information and target pose information. For example, when any camera changes, the target pose information may also change accordingly.

[0106] According to some embodiments, when the electronic device acquires the camera array, it can determine the target pose information corresponding to any camera according to the spatial information corresponding to the camera array.

[0107] In step S14 , a set of adjustment parameters of any camera device is determined based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0108] According to some embodiments, an adjustment parameter set refers to a collection of at least one adjustment parameter. The adjustment parameter set does not specifically refer to a fixed set. For example, when the number of parameters included in the adjustment parameter set changes, the adjustment parameter set may also change accordingly. For example, when any camera device changes, the adjustment parameter set may also change accordingly. For example, when the specific parameter values included in the adjustment parameter set change, the adjustment parameter set may also change accordingly.

[0109] It is easy to understand that when the electronic device obtains the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device, it can determine the adjustment parameter set of any camera device based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0110] In some or related embodiments, a set of images corresponding to the same acquisition time point corresponding to the camera array is obtained; initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set; target position information corresponding to any camera is determined based on the spatial information corresponding to the camera array; and a set of adjustment parameters for any camera is determined based on the initial position information and target position information corresponding to any camera. Therefore, the adjustment parameter set can be directly determined based on the initial position information and target position information corresponding to any camera in the camera array, eliminating the need for manual determination of the adjustment parameter set, reducing the low accuracy of manual determination of the adjustment parameter, and requiring multiple people to collaborate to determine the adjustment parameter. This can reduce the cost of determining the camera position and posture adjustment parameters, improve the efficiency of determining the adjustment parameter, and increase the adjustment range of the camera. Furthermore, while improving the accuracy of determining the adjustment parameter set, it can also reduce costs and improve the quality of images captured by the camera array. Furthermore, since manual judgment is no longer required, the probability of error is reduced, the adjustment parameter determination process can be simplified, and the deployment difficulty of the camera array can be reduced.

[0111] Figure 2 FIG. 1 is a flow chart showing a method for determining an adjustment parameter according to an exemplary embodiment. Figure 2 As shown, the adjustment parameter determination method can be used in the camera posture adjustment scenario, including the following steps:

[0112] In step S21, a set of images corresponding to the camera array and at the same acquisition time point is obtained;

[0113] The specific process is as described above and will not be repeated here.

[0114] The disclosed embodiments can be applied, for example, to bullet-time videos. Bullet-time video is a specialized application of six-degree-of-freedom video. It allows the target scene to appear frozen or slowed down, while the viewer continuously moves across a large area around the scene, delivering more information and a more impactful effect. In recent years, bullet-time effects have been widely used in variety shows and sports competitions.

[0115] According to some embodiments, 6DOF video differs from traditional video in that its raw material is multi-view video, requiring input from the capture phase. To generate 6DOF video and bullet-time effects, an array of multiple cameras is required to simultaneously capture the target scene. Depending on the scene size and the technical solutions used, the number of cameras required can range from dozens to hundreds.

[0116] In step S22, initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set;

[0117] In some embodiments, the electronic device may obtain initial pose information of any camera in the camera array based on the image data corresponding to the image set, for example, by using a camera calibration algorithm. The camera calibration algorithm may be, for example, a stereo vision camera calibration algorithm.

[0118] According to some embodiments, a camera calibration algorithm is used to determine the pose information of any camera device based on the relationship between the three-dimensional geometric position of a point in space and the position of the point in the image corresponding to any camera device. The camera calibration algorithm is not specific to a fixed algorithm. For example, when the coordinate system transformation sequence corresponding to the camera calibration algorithm changes, the camera calibration algorithm may also change accordingly. For example, when the calibration parameters corresponding to the camera calibration algorithm change, the camera calibration algorithm may also change accordingly.

[0119] Optionally, the imaging device array may be, for example, a camera array. Any camera in the camera array may be, for example, camera A. The electronic device may obtain initial position information of camera A. For example, the electronic device may obtain initial position information and initial posture information of camera A.

[0120] According to some embodiments, the initial pose information may include, for example, any external parameter of the camera device, and the external parameter may include, for example, a rotation matrix R and a translation vector T.

[0121] In step S23, initial position information of at least one camera in the camera array is obtained;

[0122] According to some embodiments, the electronic device may obtain initial position information of at least one camera in the camera array.

[0123] It is easy to understand that when an electronic device obtains the initial position information of at least one camera device in a camera device array, it can, for example, obtain the initial posture information of at least one camera device based on the initial posture information of any camera device obtained, and obtain the initial position information of at least one camera device from the initial posture information of the at least one camera device.

[0124] According to some embodiments, the initial posture information of any camera device includes a translation vector. When obtaining the initial position information of at least one camera device in the camera device array, at least one camera device can be determined from all the camera devices corresponding to the camera device array based on the selection conditions of the camera device; the translation vector of at least one camera device is preprocessed to obtain the initial position information of at least one camera device. Therefore, obtaining the initial position information based on the translation vector can improve the accuracy of determining the initial position information.

[0125] According to some embodiments, the camera selection condition refers to a condition of the camera used to determine spatial information. The camera selection condition is not specifically a fixed condition. For example, the camera selection condition may be the number of cameras. The camera selection condition may also be the distance between adjacent cameras.

[0126] In some embodiments, based on the camera selection condition, the at least one camera determined from all the camera devices corresponding to the camera array may be all the camera devices in the camera array or may be part of the camera devices.

[0127] According to some embodiments, when the electronic device determines at least one camera device, it may pre-process the translation vector of the at least one camera device to obtain initial position information of the at least one camera device. This pre-processing does not specifically refer to a fixed processing method. For example, this pre-processing includes but is not limited to coordinate system conversion processing and scale transformation processing.

[0128] In step S24, initial position information of at least one camera device is fitted to obtain spatial information corresponding to the camera device array;

[0129] According to some embodiments, the spatial information includes a spatial plane and a spatial curve. The spatial curve includes but is not limited to a spatial straight line and a spatial curve. The spatial information corresponding to the camera array acquired by the electronic device may be, for example, a spatial straight line. In this case, an example schematic diagram of the spatial information may be as follows: Figure 3The spatial information corresponding to the camera array acquired by the electronic device may be, for example, a spatial curve. In this case, an example schematic diagram of the spatial information may be as shown in FIG. Figure 4 shown.

[0130] It is easy to understand that when the electronic device obtains the initial position information of at least one camera device, it can perform fitting on the initial position information of the at least one camera device to obtain the spatial information corresponding to the camera device array.

[0131] In step S25, the target pose information corresponding to any camera device is determined based on the spatial information corresponding to the camera array;

[0132] According to some embodiments, when the electronic device obtains the spatial information corresponding to the camera array, it can determine the target pose information corresponding to any camera according to the spatial information corresponding to the camera array.

[0133] It is easy to understand that the target posture information may include target position information and target attitude information, wherein the target position information may include at least one target position sub-information, wherein the target attitude information may include at least one target attitude sub-information.

[0134] According to some embodiments, wherein the spatial information includes a spatial plane and a spatial curve, and the target pose information includes target position information, when determining the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array, first position relationship information corresponding to all cameras in the camera array can be obtained; the sequence information of any camera device in the camera array can be determined; first target position sub-information of any camera device in a first direction can be determined based on the position relationship information and the sequence number information; second target position sub-information of any camera device in a second direction can be determined based on the second position relationship information between any camera device and the spatial curve; third target position sub-information of any camera device in a third direction can be determined based on the third position relationship information between any camera device and the spatial plane; and the first target position sub-information, the second target position sub-information, and the third target position sub-information can be used as the target position information. Therefore, by determining the target position information based on any camera device and the spatial information, the accuracy of the target position information determination can be improved, thereby improving the accuracy of the adjustment parameter determination.

[0135] According to some embodiments, the first direction, the second direction, and the third direction are used to indicate three different directions.

[0136] Optionally, the first direction may be, for example, the direction along the X axis in the three-dimensional coordinate system, the second direction may be, for example, the direction along the Y axis in the three-dimensional coordinate system, and the third direction may be, for example, the direction along the Z axis in the three-dimensional coordinate system.

[0137] In some embodiments, the imaging device may be, for example, a camera, and the target position corresponding to the camera may be represented by a three-dimensional vector (x, y, z).

[0138] It is easy to understand that the sequence number information is used to indicate the sequence number of any camera device in the camera device array. For example, the sequence number information of any camera device in the camera device array can be the first or the second. This sequence number information corresponds to any camera device. That is, if the device identifier corresponding to any camera device changes, the sequence number information may also change accordingly.

[0139] In some embodiments, the first position relationship information is used to indicate the position relationship of all camera devices. The first position relationship information is only used to distinguish it from other position relationship information. The second position relationship information is used to indicate the second position relationship information of any camera device and the space curve.

[0140] According to some embodiments, wherein the spatial information includes a spatial plane and a spatial curve, and the target pose information includes target attitude information, when determining the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array, the target pitch angle corresponding to any camera device can be determined based on a first relationship between the pitch angle corresponding to at least one camera device and the spatial plane; the target yaw angle corresponding to any camera device can be determined based on an important position parameter of the at least one camera device on the spatial curve and the yaw angle corresponding to at least one camera device; and the target roll angle corresponding to any camera device can be determined based on a second relationship between the roll angle corresponding to at least one camera device and the spatial plane; and the target pitch angle, target yaw angle, and target roll angle are used as target attitude information. Therefore, by determining the target attitude information using any camera device and the spatial information, the accuracy of the target attitude information determination can be improved, thereby improving the accuracy of the adjustment parameter determination.

[0141] It is easy to understand that the position-important parameter is used to indicate the position parameter used when determining the target yaw angle corresponding to any camera device. The position-important parameter may include, for example, a position weight parameter.

[0142] According to some embodiments, the target posture information can be described using a rotation matrix or Euler angles (pitch angle, yaw angle, roll angle). For example, the embodiments of the present disclosure can be introduced using Euler angles as an example.

[0143] According to some embodiments, the first relationship refers to the relationship between the pitch angle corresponding to at least one camera device and the spatial plane. The first in the first relationship is only used to distinguish it from the second relationship. The second relationship refers to the relationship between the roll angle corresponding to at least one camera device and the spatial plane.

[0144] In some embodiments, the target pitch angle, target yaw angle, and target roll angle may be, for example, target attitude sub-information, and the electronic device may use the target pitch angle, target yaw angle, and target roll angle as target attitude information.

[0145] In step S26 , a set of adjustment parameters of any camera device is determined based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0146] The specific process is as described above and will not be repeated here.

[0147] According to some embodiments, when an electronic device obtains initial pose information corresponding to any camera device and target pose information corresponding to any camera device, it may obtain any initial pose sub-information in the initial pose information and determine target pose sub-information corresponding to any initial pose sub-information in the target pose information. Based on any initial pose sub-information and the target pose sub-information corresponding to the any initial pose sub-information, an adjustment parameter in a set of adjustment parameters for any camera device may be determined.

[0148] According to some embodiments, any camera device may be, for example, camera A. The camera position is represented by a vector (x, y, z) in three-dimensional space. When calculating the target position information, the three dimensions are also considered, and a set of adjustment parameters are simultaneously determined:

[0149] a) Based on the positional relationships between all cameras and the sequence number of camera A, first target position sub-information of camera A on the X-axis in the three-dimensional coordinate system is calculated. The electronic device can compare this first target position sub-information with the actual position of camera A on the X-axis in the three-dimensional coordinate system, calculate adjustment data, and convert it into a real-world scale. The actual position of camera A on the X-axis in the three-dimensional coordinate system can be, for example, the initial position of camera A on the X-axis in space.

[0150] b) calculating second target position sub-information of camera A on the Y axis in the three-dimensional coordinate system based on the positional relationship between the at least one camera and the spatial curve. The electronic device may compare the second target position sub-information with the actual position of camera A on the Y axis in the three-dimensional coordinate system, calculate adjustment data, and convert the data into a real-world scale. The actual position of camera A on the Z axis in the three-dimensional coordinate system may be, for example, the initial position of camera A on the Y axis in the three-dimensional coordinate system.

[0151] c) Calculating third target position sub-information of camera A on the Z axis in the three-dimensional coordinate system based on the positional relationship between the camera and the spatial plane. The electronic device may compare the third target position sub-information with the actual position of camera A on the Z axis in the three-dimensional coordinate system, calculate adjustment data, and convert the data into a real-world scale. The actual position of camera A on the Z axis in the three-dimensional coordinate system may be, for example, the initial position of camera A on the Z axis in the three-dimensional coordinate system.

[0152] According to some embodiments, the camera pose can be described using a rotation matrix or Euler angles (pitch, yaw, and roll), and the pose adjustment parameters are calculated simultaneously from these three dimensions:

[0153] a) Calculating a target pitch angle of camera A based on a relationship between at least one camera pitch angle and a spatial plane. The electronic device may then compare the target pitch angle of camera A with the actual pitch angle of camera A to calculate a pitch angle adjustment direction and adjustment value. The actual pitch angle of camera A may be, for example, the initial pitch angle of camera A.

[0154] b) Based on the position weight of each camera on the spatial curve and the yaw angle of the key camera, a target yaw angle of camera A is interpolated. The electronic device can then compare the target yaw angle of camera A with the actual yaw angle of camera A to calculate the yaw angle adjustment direction and adjustment value. The actual yaw angle of camera A can be, for example, the initial yaw angle of camera A.

[0155] c) Calculating a target roll angle for camera A based on a relationship between the roll angle of at least one camera and a spatial plane. The electronic device may then compare the target roll angle for camera A with the actual roll angle for camera A to calculate an adjustment direction and an adjustment value for the roll angle. The actual roll angle for camera A may be, for example, the initial roll angle for camera A.

[0156] In some or related embodiments, by obtaining an image set corresponding to the same acquisition time point corresponding to the camera array, the initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set, thereby reducing the need for manual determination of the initial position, and improving the accuracy of the initial position determination. Secondly, the initial position information of at least one camera in the camera array can be obtained; the initial position information of at least one camera is fitted to obtain spatial information corresponding to the camera array; the target position information corresponding to any camera is determined based on the spatial information corresponding to the camera array; the adjustment parameter set of any camera is determined based on the initial position information corresponding to any camera and the target position information corresponding to any camera. The adjustment parameter set can be directly determined based on the initial position information and target position information corresponding to any camera in the camera array, eliminating the need for manual determination of the adjustment parameter set, reducing the low accuracy of manual judgment of the adjustment parameter, and requiring multiple people to collaborate to determine the adjustment parameter. This can reduce the cost of determining the position and posture adjustment parameters of the camera, improve the efficiency of determining the adjustment parameter, and increase the adjustment range of the camera. As a result, the cost can be reduced while improving the accuracy of determining the adjustment parameter set.

[0157] Figure 5 FIG. 1 is a flow chart showing a method for determining an adjustment parameter according to an exemplary embodiment. Figure 5 As shown, the adjustment parameter determination method can be used in the camera posture adjustment scenario, including the following steps:

[0158] In step S31, a set of images corresponding to the camera array and at the same acquisition time point is obtained;

[0159] The specific process is as described above and will not be repeated here.

[0160] In step S32, initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set;

[0161] The specific process is as described above and will not be repeated here.

[0162] In step S33, the target pose information corresponding to any camera device is determined based on the spatial information corresponding to the camera array;

[0163] The specific process is as described above and will not be repeated here.

[0164] In step S34, a set of adjustment parameters of any camera device is determined based on the initial pose information corresponding to any camera device and the target pose information corresponding to any camera device;

[0165] The specific process is as described above and will not be repeated here.

[0166] According to some embodiments, when the electronic device obtains an adjustment parameter set of any camera device, it may use the adjustment parameter set corresponding to any camera device to control the gimbal to adjust the posture of any camera device.

[0167] In step S35, the posture change information of any camera device is determined based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device;

[0168] According to some embodiments, the posture change information is used to indicate the change from the initial posture information of the same camera device to the target posture information of the camera device. The posture change information does not specifically refer to a fixed information. For example, when the initial posture information or the target posture information changes, the posture change information may also change accordingly.

[0169] According to some embodiments, the electronic device may determine the posture change information of any camera device based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device.

[0170] Optionally, the electronic device may draw the posture change information of all camera devices in a visual interface.

[0171] In step S36, the posture change information is drawn in three-dimensional space to obtain a visual interface;

[0172] A visualization interface refers to theories, methods, and techniques for converting data into graphics or images, displaying them on a screen, and performing interactive processing using computer graphics and image processing techniques. The visualization interface of the disclosed embodiment is used to convert a set of adjustment parameters into an image.

[0173] It is easy to understand that the visual interface does not refer to a specific fixed interface. For example, when the adjustment parameter set corresponding to the visual interface changes, the visual interface can also change accordingly. For example, when the drawing method corresponding to the visual interface changes, the visual interface can also change accordingly.

[0174] It is easy to understand that when an electronic device determines the posture change information of any camera device based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device, the electronic device can draw the posture change information in three-dimensional space to obtain a visual interface.

[0175] According to some embodiments, when the electronic device obtains the visual interface corresponding to the adjustment parameter set, the electronic device can display the adjustment parameter set and the visual interface corresponding to any camera device. Figure 6 shown.

[0176] In step S37, the adjustment parameter set and visualization interface corresponding to any camera device are used to control the adjustment device to adjust the posture of any camera device.

[0177] According to some embodiments, the adjustment device is used to control the posture of the camera array, that is, the adjustment device can adjust the posture of any camera in the camera array.

[0178] In some embodiments, when the electronic device obtains the adjustment parameter set and visualization interface corresponding to any camera device, it can use the adjustment parameter set and visualization interface corresponding to any camera device to control the adjustment device to adjust the posture of any camera device.

[0179] It is easy to understand that when the electronic device obtains the adjustment parameter set and visualization interface corresponding to any camera device, the electronic device can display the adjustment parameter set and visualization interface corresponding to any camera device. The electronic device can adjust the posture of any camera device based on the device adjustment instruction.

[0180] According to some embodiments, Figure 7 A flow chart of a method for determining an adjustment parameter is shown according to an exemplary embodiment. Figure 7As shown, a synchronized snapshot of the camera array can be obtained, and camera calibration can be performed based on the synchronized snapshot to obtain camera parameters. The camera parameters can be preprocessed, key cameras can be selected, and spatial planes and spatial curves can be fitted. The key cameras can be determined, for example, based on camera selection criteria. An ideal position X component and adjustment data for the position X component can be calculated, and the adjustment parameters can be scaled. The ideal position X component can, for example, be first target position sub-information in a first direction, such as first target position sub-information on the X-axis in a three-dimensional coordinate system. The position X component can, for example, be the actual position of the camera on the X-axis in the three-dimensional coordinate system, i.e., the initial position of the camera on the X-axis in the three-dimensional coordinate system. An ideal position Y component and adjustment data for the position Y component can be calculated, and the adjustment parameters can be scaled. The ideal position Y component can, for example, be second target position sub-information in a second direction, such as second target position sub-information on the Y-axis in the three-dimensional coordinate system. The position Y component can, for example, be the actual position of the camera on the Y-axis in the three-dimensional coordinate system, i.e., the initial position of the camera on the Y-axis in the three-dimensional coordinate system. The ideal position Z component and adjustment data for the position Z component can be calculated, and the adjustment parameters can be scaled. The ideal position Z component can be, for example, third target position sub-information in a third direction, or second target position sub-information on the Z axis in a three-dimensional coordinate system. The position Z component can be, for example, the actual position of the camera on the Z axis in the three-dimensional coordinate system, i.e., the initial position of the camera on the Z axis in the three-dimensional coordinate system. An ideal pitch angle and pitch angle adjustment parameters can be calculated. The ideal pitch angle can be the target pitch angle. An ideal yaw angle and yaw angle adjustment parameters can be calculated. The ideal yaw angle can be the target yaw angle. An ideal roll angle and roll angle adjustment parameters can be calculated. The ideal roll angle can be the target roll angle. A three-dimensional view of the actual pose and the ideal pose can be drawn, i.e., a three-dimensional view of the initial pose information and the target pose information can be drawn. The pose adjustment parameters and a visualization view can be output, and the camera pose adjustment can be performed.

[0181] In some or related embodiments, the posture change information of any camera device is determined based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device; the posture change information is drawn in three-dimensional space to obtain a visualization interface; the adjustment parameter set and visualization interface corresponding to any camera device are used to control the adjustment device to adjust the posture of any camera device. Therefore, there is no need to manually adjust the posture of the camera device, which can improve the accuracy of the posture adjustment, and the visualization interface can improve the convenience of the posture adjustment. Secondly, an image set with the same acquisition time point corresponding to the camera array is obtained; based on the image data corresponding to the image set, the initial posture information of any camera device in the camera array is obtained; based on the spatial information corresponding to the camera array, the target posture information corresponding to any camera device is determined; based on the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device, the adjustment parameter set of any camera device is determined. Therefore, the adjustment parameter set can be directly determined through the initial posture information and target posture information corresponding to any camera device in the camera device array, without the need to manually determine the adjustment parameter set, reducing the situation where the accuracy of manual judgment of the adjustment parameters is low, and the need for multiple people to collaborate to determine the adjustment parameters can reduce the cost of determining the adjustment parameters of the camera device position and posture, improve the efficiency of determining the adjustment parameters, and increase the adjustment range of the camera device. Furthermore, the cost can be reduced while improving the accuracy of determining the adjustment parameter set.

[0182] Figure 8 FIG. 1 is a block diagram of a device for determining an adjustment parameter according to an exemplary embodiment. Figure 8 The device 800 includes a set acquisition unit 801, an information acquisition unit 802 and a parameter determination unit 803.

[0183] A set acquisition unit 801 is configured to acquire a set of images corresponding to the same acquisition time point of the camera array;

[0184] The information acquisition unit 802 is configured to acquire initial position information of any camera in the camera array based on the image data corresponding to the image set;

[0185] The information acquisition unit 802 is further configured to determine the target pose information corresponding to any camera device based on the spatial information corresponding to the camera array;

[0186] The parameter determination unit 803 is configured to determine a set of adjustment parameters for any camera device according to the initial pose information corresponding to any camera device and the target pose information corresponding to any camera device.

[0187] Optionally, when the information acquisition unit 802 is configured to acquire the initial pose information of any camera in the camera array based on the image data corresponding to the image set, the information acquisition unit 802 is specifically configured to execute:

[0188] The initial position information of any camera in the camera array is obtained based on the image data corresponding to the image set.

[0189] Optionally, the information acquisition unit 802 is further configured to execute:

[0190] Acquiring initial position information of at least one camera device in the camera device array;

[0191] Initial position information of at least one camera device is fitted to obtain spatial information corresponding to the camera device array.

[0192] Optionally, the initial position information of any camera device includes a translation vector, and the information acquisition unit 802 is configured to execute, when acquiring the initial position information of at least one camera device in the camera device array, specifically configured to execute:

[0193] Determining at least one camera device from all camera devices corresponding to the camera device array according to a selection condition of the camera device;

[0194] Preprocessing is performed on the translation vector of at least one camera device to obtain initial position information of the at least one camera device.

[0195] Optionally, the spatial information includes a spatial plane and a spatial curve, and the target pose information includes target position information. The information acquisition unit 802 is configured to determine the target pose information corresponding to any camera device based on the spatial information corresponding to the camera device array, and is specifically configured to execute:

[0196] Acquiring first position relationship information corresponding to all camera devices in the camera device array;

[0197] Determining the serial number information of any camera device in the camera device array;

[0198] Determine first target position sub-information of any camera device in a first direction according to the position relationship information and the sequence number information;

[0199] determining second target position sub-information of any camera device in a second direction according to second positional relationship information between any camera device and the space curve;

[0200] determining third target position sub-information of any camera device in a third direction based on third positional relationship information between any camera device and the spatial plane;

[0201] The first target position sub-information, the second target position sub-information and the third target position sub-information are used as target position information.

[0202] Optionally, the spatial information includes a spatial plane and a spatial curve, and the target pose information includes target posture information. The information acquisition unit 802 is configured to determine the target pose information corresponding to any camera device based on the spatial information corresponding to the camera device array, and is specifically configured to execute:

[0203] Determining a target pitch angle corresponding to any camera device based on a first relationship between a pitch angle corresponding to at least one camera device and a spatial plane;

[0204] Determining a target yaw angle corresponding to any camera device based on important position parameters of at least one camera device on the spatial curve and a yaw angle corresponding to at least one camera device;

[0205] determining a target roll angle corresponding to any camera device according to a second relationship between a roll angle corresponding to at least one camera device and a spatial plane;

[0206] The target pitch angle, target yaw angle and target roll angle are used as target attitude information.

[0207] Optionally, according to some embodiments, Figure 9 FIG. 1 is a block diagram of a device for determining an adjustment parameter according to an exemplary embodiment. Figure 9 The apparatus 800 further includes a posture adjustment unit 804 configured to perform:

[0208] Determining posture change information of any camera device according to initial posture information corresponding to any camera device and target posture information corresponding to any camera device;

[0209] In three-dimensional space, the posture change information is drawn to obtain a visual interface;

[0210] The adjustment parameter set and visual interface corresponding to any camera device are used to control the adjustment device to adjust the posture of any camera device, wherein the adjustment device is used to control the posture of the camera device array.

[0211] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0212] In summary, the device provided by the embodiment of the present disclosure is configured to execute acquisition of an image set corresponding to the same acquisition time point of the camera array through the set acquisition unit; the information acquisition unit is configured to execute acquisition of the initial posture information of any camera in the camera array based on the image data corresponding to the image set; the information acquisition unit is further configured to execute determination of the target posture information corresponding to any camera based on the spatial information corresponding to the camera array; the parameter determination unit is configured to execute determination of the adjustment parameter set of any camera based on the initial posture information corresponding to any camera and the target posture information corresponding to any camera. Therefore, the adjustment parameter set can be directly determined through the initial posture information and target posture information corresponding to any camera in the camera array, without the need to manually determine the adjustment parameter set, reducing the situation where the accuracy of manual judgment of the adjustment parameters is low, and requiring multiple people to collaborate to determine the adjustment parameters, which can reduce the cost of determining the adjustment parameters of the camera position and posture, improve the efficiency of determining the adjustment parameters, and increase the adjustment range of the camera, thereby improving the accuracy of determining the adjustment parameter set while reducing the cost.

[0213] Figure 10 A schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit implementations of the present disclosure described and / or claimed herein.

[0214] like Figure 10 As shown, the electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of the electronic device 1000 can also be stored in the RAM 1003. The computing unit 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.

[0215] Multiple components in the electronic device 1000 are connected to the I / O interface 1005, including an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the electronic device 1000 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0216] The computing unit 1001 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as the adjustment parameter determination method. For example, in some embodiments, the leaf spring stiffness value determination method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the adjustment parameter determination method described above can be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the adjustment parameter determination method in any other appropriate manner (eg, by means of firmware).

[0217] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0218] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0219] 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.

[0220] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0221] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by 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), the Internet, and a blockchain network.

[0222] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0223] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0224] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for determining an adjustment parameter, characterized in that: include: Acquire a set of images corresponding to the camera array at the same acquisition time point; Obtaining initial position information of any camera in the camera array according to image data corresponding to the image set; Determining target pose information corresponding to any one of the camera devices based on spatial information corresponding to the camera array; Determining a set of adjustment parameters for any camera device according to the initial pose information corresponding to any camera device and the target pose information corresponding to any camera device; The method further comprises: Acquiring initial position information of at least one camera in the camera array; Fitting initial position information of the at least one camera device to obtain spatial information corresponding to the camera device array; The spatial information includes a spatial plane and a spatial curve, the target posture information includes target position information, and determining the target posture information corresponding to any camera device according to the spatial information corresponding to the camera array includes: Acquiring first position relationship information corresponding to all camera devices in the camera device array; Determining serial number information of any one of the camera devices in the camera device array; determining, based on the position relationship information and the sequence number information, first target position sub-information of any camera device in the first direction; determining second target position sub-information of the any camera device in the second direction according to the second position relationship information between the any camera device and the space curve; determining third target position sub-information of the any camera device in the third direction based on third positional relationship information between the any camera device and the spatial plane; The first target position sub-information, the second target position sub-information and the third target position sub-information are used as the target position information.

2. The method according to claim 1, characterized in that The obtaining, based on the image data corresponding to the image set, initial pose information of any camera in the camera array includes: The initial position information of any camera in the camera array is obtained according to the image data corresponding to the image set.

3. The method according to claim 1, characterized in that in, The initial position information of any camera device includes a translation vector, and obtaining the initial position information of at least one camera device in the camera device array includes: Determining the at least one camera device from all camera devices corresponding to the camera device array according to a selection condition of the camera device; Preprocessing is performed on the translation vector of the at least one camera device to obtain initial position information of the at least one camera device.

4. The method according to claim 1, wherein in, The spatial information includes a spatial plane and a spatial curve, the target posture information includes target posture information, and determining the target posture information corresponding to any one of the camera devices according to the spatial information corresponding to the camera array includes: determining a target pitch angle corresponding to any one of the camera devices according to a first relationship between the pitch angle corresponding to the at least one camera device and the spatial plane; determining a target yaw angle corresponding to any one of the camera devices based on important position parameters of the at least one camera device on the spatial curve and a yaw angle corresponding to the at least one camera device; determining a target roll angle corresponding to any one of the camera devices according to a second relationship between the roll angle corresponding to the at least one camera device and the spatial plane; The target pitch angle, the target yaw angle, and the target roll angle are used as the target posture information.

5. The method according to claim 1, wherein The method further comprises: Determining posture change information of any camera device according to the initial posture information corresponding to any camera device and the target posture information corresponding to any camera device; In three-dimensional space, the posture change information is plotted to obtain a visual interface; The adjustment parameter set corresponding to any one of the camera devices and the visual interface are used to control the adjustment device to adjust the posture of any one of the camera devices, wherein the adjustment device is used to control the posture of the camera device array.

6. A device for determining an adjustment parameter, characterized in that: include: A set acquisition unit is configured to acquire a set of images corresponding to the camera array at the same acquisition time point; an information acquisition unit configured to acquire initial position information of any camera in the camera array based on image data corresponding to the image set; The information acquisition unit is further configured to determine the target pose information corresponding to any one of the camera devices based on the spatial information corresponding to the camera array; a parameter determination unit configured to determine a set of adjustment parameters for any camera device according to the initial pose information corresponding to any camera device and the target pose information corresponding to any camera device; The information acquisition unit is further configured to acquire initial position information of at least one camera in the camera array; perform fitting on the initial position information of the at least one camera to acquire spatial information corresponding to the camera array; The spatial information includes a spatial plane and a spatial curve, the target posture information includes target position information, and the information acquisition unit is configured to acquire first position relationship information corresponding to all cameras in the camera array; determine the sequence number information of any camera in the camera array; determine first target position sub-information of any camera in a first direction based on the position relationship information and the sequence number information; determine second target position sub-information of any camera in a second direction based on second position relationship information between any camera and the spatial curve; and determine third target position sub-information of any camera in a third direction based on third position relationship information between any camera and the spatial plane. The first target position sub-information, the second target position sub-information and the third target position sub-information are used as the target position information.

7. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the adjustment parameter determination method according to any one of claims 1 to 5. 8 . A storage medium, wherein when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the adjustment parameter determination method according to claim 1 .

Images