Calibration method, device and equipment for angle deviation of multi-camera module and medium

Abstract

The application relates to the technical field of image data processing, in particular to a method and device for calibrating an angle deviation of a multi-camera module, and a medium. The method comprises the following steps: determining a first distance between a focal point of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focal point and a preset reference point of the object plane on the calibration template; calculating a deflection angle of a camera optical axis of the single camera relative to a center line of the calibration template according to a third distance between the center point of the object plane and the reference point of the object plane, and the first distance and the second distance; and summing up the deflection angles corresponding to each camera to calibrate the angle deviation. The method can conveniently and quickly calibrate the angle deviation of the multi-camera module, and avoids equipment loss and rising production cost caused by calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image data processing, and in particular to a method and device for calibrating an angle deviation of a multi-camera module, and a medium. BACKGROUND

[0002] With the development of the Internet of Things, in order to make electronic devices have higher imaging quality, electronic devices using multi-camera modules have appeared. A multi-camera module is a combination of multiple cameras assembled together at specific positions to jointly realize picture acquisition and processing. An angle between the camera optical axes of any two cameras is called an image plane included angle. A deviation between an actual image plane included angle and a theoretical image plane included angle is called an angle deviation. If the angle deviation exceeds a threshold range, the imaging quality of the electronic device will be reduced. Therefore, the angle deviation of the multi-camera module needs to be calibrated. Existing calibration systems have complex structures, and calibration methods need to be implemented by using devices such as laser range finders, causing device loss and rising production costs.

[0003] Therefore, how to calibrate the angle deviation of the multi-camera module in a simple way is a technical problem that needs to be solved at present. SUMMARY

[0004] The present application provides a method for calibrating the angle deviation of a multi-camera module, which solves the technical problem of the complex structure of the calibration system used in the prior art, the calibration method needs to be implemented by using devices such as laser range finders, causing device loss and rising production costs, and achieves the technical effect of simply and quickly calibrating the angle deviation of the multi-camera module, avoiding device loss and rising production costs caused by calibration.

[0005] In a first aspect, the present application provides a method for calibrating the angle deviation of a multi-camera module, which comprises:

[0006] determining a first distance between the focal point of a single camera and a center point of an object plane on a pre-arranged calibration template, and a second distance between the focal point and a pre-set object plane reference point on the calibration template;

[0007] calculating a deflection angle of the camera optical axis of the single camera relative to a center line of the calibration template according to a third distance between the center point of the object plane and the object plane reference point, and the first distance and the second distance;

[0008] summing up the deflection angles corresponding to each camera to calibrate the angle deviation.

[0009] Further, the position of an image plane center point corresponding to the center point of the object plane on the imaging plane is calibrated, and an image plane center point-focal point distance between the image plane center point and the focal point is obtained.

[0010] calibrating a position of a corresponding image reference point of the object reference point on the imaging plane, and obtaining an image reference point-focal point distance between the image reference point and the focal point;

[0011] based on a similar triangle rule, the first distance is calculated by the obtained center point-reference point distance, the image center point-image reference point distance, and the image center point-focal point distance;

[0012] the second distance is calculated by the center point-reference point distance, the image center point-image reference point distance, and the image reference point-focal point distance.

[0013] Further, before determining the first distance, the camera optical axis of each camera is set to be consistent with the center mark line of the corresponding calibration template.

[0014] Further, the deflection angle of the camera optical axis of the single camera relative to the center mark line of the calibration template is calculated according to a third distance between the object center point and the object reference point, and the first distance and the second distance, which includes:

[0015] the cosine value of the deflection angle of the camera optical axis of the camera relative to the center mark line of the calibration template is calculated according to the first distance, the second distance, and the third distance;

[0016] the deflection angle of the camera optical axis of the camera relative to the center mark line of the calibration template is calculated according to the cosine value.

[0017] Further, the method further includes that each camera is correspondingly provided with one calibration template, and two adjacent calibration templates are set according to the obtained theoretical template included angle.

[0018] Further, the obtained theoretical template included angle includes: the theoretical template included angle between the two adjacent calibration templates is calculated by a theoretical image included angle between the camera optical axes of the two adjacent cameras.

[0019] Further, the calibration template includes but is not limited to one or more of a cross table or other calibration board used for calibration or testing.

[0020] In a second aspect, the present application provides a device for calibrating the angle deviation of a multi-camera module, the device includes a determination module, a calculation module, and a calibration module.

[0021] The determining module is configured to determine a first distance between a focal point of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focal point and a preset reference point of the object plane on the calibration template.

[0022] The calculating module is configured to calculate a deflection angle of a camera optical axis of the single camera relative to a center line of the calibration template according to a third distance between the center point of the object plane and the reference point of the object plane, and the first distance and the second distance.

[0023] The calibrating module is configured to obtain the deflection angle corresponding to each camera and sum the deflection angles to calibrate the angular deviation.

[0024] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method steps of any one of the first aspect.

[0025] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program executable by a processor to implement the method steps of any one of the first aspect.

[0026] The one or more technical solutions in the embodiments of the present application have at least the following technical effects or advantages:

[0027] In the embodiments of the present application, the present application provides a calibration method for an angular deviation of a multi-camera module, which comprises: determining a first distance between a focal point of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focal point and a preset reference point of the object plane on the calibration template; calculating a deflection angle of a camera optical axis of the single camera relative to a center line of the calibration template according to a third distance between the center point of the object plane and the reference point of the object plane, and the first distance and the second distance; obtaining the deflection angle corresponding to each camera and summing the deflection angles to calibrate the angular deviation.

[0028] The embodiment does not need to adopt a complex calibration system or a device prone to damage, and the first distance, the second distance and the third distance can be obtained through ordinary measurement, so that the device damage and the production cost increase caused by measurement are avoided. Then, the deflection angle of the single camera is determined by calculating the first distance, the second distance and the third distance; in the process of determining the deflection angle of the single camera, the mutual influence of the deflection angles between the single cameras is not involved, the process of solving the angle deviation is divided into calculating the deflection angle of each camera, and finally, all the obtained deflection angles are summed to obtain the angle deviation of the multi-camera module, so that the calculation amount is reduced, the calibration process is simplified, and the angle deviation of the multi-camera module is calibrated conveniently and quickly. BRIEF DESCRIPTION OF DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Moreover, the same reference numerals in different figures represent the same or similar components. In the drawings:

[0030] Figure 1 A calibration scene schematic diagram of a multi-camera module is shown;

[0031] Figure 2 A calibration scene schematic diagram of a multi-camera module is shown; Figure 1 A top view of a calibration scene of a multi-camera module is shown;

[0032] Figure 3 A flowchart of a calibration method of an angle deviation of a multi-camera module in the embodiment of the application is shown;

[0033] Figure 4 A schematic diagram of an image collected by camera A in the embodiment of the application is shown;

[0034] Figure 5 A schematic diagram of an image collected by camera A in the embodiment of the application is shown;

[0035] Figure 6 An electronic structure device schematic diagram in the embodiment of the application is shown. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0037] Embodiment one

[0038] The embodiment one of the present application provides a calibration method for an angle deviation amount of a multi-camera module, and solves the technical problem of a complex calibration system structure and a calibration method requiring a laser range finder and other equipment to be used to implement the calibration method, causing equipment loss and rising production cost in the prior art.

[0039] To solve the above technical problem, the general idea of the technical solution of the embodiment of the present application is as follows:

[0040] The present application provides a calibration method for an angle deviation amount of a multi-camera module, the calibration method comprising: determining a first distance between a focal point of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focal point and a pre-configured object plane reference point on the calibration template; calculating a deflection angle of a camera optical axis of the single camera relative to a center line of the calibration template according to a third distance between the center point of the object plane and the object plane reference point, and the first distance and the second distance; and summing up the deflection angle corresponding to each camera to calibrate the angle deviation amount.

[0041] In order to better understand the above technical solution, the above technical solution will be described in detail in combination with the drawings of the specification and the specific embodiments.

[0042] First of all, the term "and / or" appearing in this paper is only to describe the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents an "or" relationship between the front and rear associated objects.

[0043] Figure 1 is a calibration scene diagram of a multi-camera module provided by the embodiment of the present application; Figure 2 is Figure 1 is a top view of a corresponding calibration scene of a multi-camera module; Figure 1 and Figure 2 The calibration scene diagram shown in the figure includes a support 1, a camera A 2, a pre-configured calibration template ChartA 3 corresponding to the camera A 2, a camera B 4, and a pre-configured calibration template ChartB 5 corresponding to the camera B 4.

[0044] As an optional embodiment, the calibration template used in this embodiment is a cross chart ChartA 3 and ChartB 5, and in specific application process, one or more of other calibration boards used for calibration or testing can also be used, which is not limited here.

[0045] As shown in the accompanying Figure 2As shown, in an ideal state, the foot of the camera optical axis 6 of the camera A2 to the calibration template ChartA3 is M, the foot of the camera optical axis 7 of the camera B4 to the calibration template ChartB5 is N, the camera optical axis 6 of the camera A2 intersects with the camera optical axis 7 of the camera B4 at point P, and the intersection of the calibration template ChartA3 and the calibration template ChartB5 is Q.

[0046] In the quadrilateral MPNQ, in an ideal state, since the angle QMP and the angle QNP are both right angles, the sum of the four interior angles of the quadrilateral MPNQ is 360°, and thus for the theoretical image plane included angle α formed between the camera optical axis 6 of the camera A2 and the camera optical axis 7 of the camera B4 and the theoretical template included angle β between the calibration template ChartA3 and the calibration template ChartB5, α + β = 180° is satisfied. The theoretical image plane included angle α provided in the factory specification of the multi-camera module can be used to calculate the theoretical template included angle β between the calibration template ChartA3 and the calibration template ChartB5.

[0047] The included angle between the calibration template ChartA3 and the calibration template ChartB5 is set according to the theoretical template included angle β.

[0048] During the entire calibration process, the camera A2 and the camera B4 are fixed and clamped by the support 1 to keep the positions of each camera unchanged.

[0049] The calibration object of the embodiment is a dual-camera module. According to the definition of the multi-camera module with zero angle deviation in the industry, in an ideal state, the camera optical axis 6 of the camera A2 is completely coincident with the center mark line 8 of the corresponding calibration template ChartA3, that is, the included angle θ1 between the camera optical axis 6 of the camera A2 and the center mark line 8 of the corresponding calibration template ChartA3 is 0; and the camera optical axis 7 of the camera B4 is completely coincident with the center mark line 9 of the corresponding calibration template ChartB5, that is, the included angle θ2 between the camera optical axis 7 of the camera B4 and the center mark line 9 of the corresponding calibration template ChartB5 is 0. However, in actual situations, θ1 and θ2 are not equal to 0, the actual image plane included angle α - (θ1 + θ2) between the camera optical axis 6 of the camera A2 and the camera optical axis 7 of the camera B4 is different from the theoretical image plane included angle α, and the difference θ = θ1 + θ2 is the angle deviation of the dual-camera module.

[0050] Since the angle deviation that meets the quality requirement is usually a very small value, it is difficult to collect images and obtain calibration results if the module is clamped in an optional direction. In order to improve the calibration efficiency and accuracy, the camera optical axis 6 of the camera A2 is adjusted to be attached to the center mark line 8 of the calibration template ChartA3, and the camera optical axis 7 of the camera B4 is adjusted to be attached to the center mark line 9 of the calibration template ChartB5.

[0051] As an optional implementation, when the object being calibrated is a module with more than three cameras, ideally, the optical axis of each camera should coincide with the center mark of its corresponding calibration template. Therefore, based on the same inventive concept as the above method, every two adjacent calibration templates should be set according to the corresponding theoretical template angle, and the optical axis of each camera should be adjusted to align with the center mark of the corresponding calibration template to improve calibration efficiency and accuracy.

[0052] Adjust the distance between camera A2 and calibration template ChartA3, as well as the distance between camera B4 and calibration template ChartB5. As an optional embodiment, the distance is of the same or similar order of magnitude as the focal length of the corresponding camera. The focal length of the camera can be obtained by consulting the product manual of the multi-module camera when it leaves the factory. If the order of magnitude difference between the distance and the focal length of the corresponding camera is too large, in the subsequent steps, the size of the image captured by the camera will be too different from the size of the actual object on the corresponding calibration template, resulting in calculation errors. Therefore, the distance between the calibration template and the corresponding camera is set to be of the same or similar order of magnitude as the focal length of the corresponding camera to reduce the errors that may be caused by calculations in the subsequent steps.

[0053] As attached Figure 3 FIG2 is a flow chart of a method for calibrating the angular deviation of a multi-camera module according to an embodiment of the present invention. The calibration method includes the following implementation steps S101 to S103.

[0054] S101, determining a first distance between a focus of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focus and a preset object plane reference point on the calibration template.

[0055] As an optional implementation, it specifically includes: calibrating the position of the image plane center point corresponding to the object plane center point on the imaging plane, and obtaining the image plane center point-focus distance between the image plane center point and the focus.

[0056] The position of the image plane reference point corresponding to the object plane reference point on the imaging plane is calibrated to obtain the image plane reference point-focus distance between the image plane reference point and the focus.

[0057] The first distance is obtained by calculating the center point-reference point distance from the center point of the object plane to the object plane reference point, the image plane center point-image plane reference point distance from the center point of the image plane to the image plane reference point, and the image plane center point-focal point distance based on the law of similar triangles;

[0058] The second distance is calculated by the object plane center point-reference point distance, the image plane center point-image plane reference point distance, and the image plane reference point-focal point distance.

[0059] For example, as shown in the attached Figure 4 Figure, it is a schematic diagram of the image collected by the camera A2 in the embodiment of the present application.

[0060] As shown in the attached Figure 4 Figure, the camera A2 collects the image of the object plane rectangle CKGJ on the calibration template ChartA3, and the image of the object plane center point E and the object plane reference point L of the object plane rectangle CKGJ; wherein the object plane reference point L is the midpoint of the edge KC of the object plane rectangle. After the camera A2 collects the image, the image plane rectangle C'K'G'J', the calibration image plane center point E', and the image plane reference point L' are generated on the imaging plane 10 correspondingly. Point O represents the focal point of the camera A2.

[0061] Therefore, the length a of OE is the required first distance; the length c of OL is the required second distance; and the length b of EL is the required third distance.

[0062] Firstly, based on the similar triangle rule, the first distance a, i.e. the length of OE, is calculated by the obtained center point-reference point distance EL of the object plane center point to the object plane reference point, the image plane center point-image plane reference point distance E'L' of the image plane center point to the image plane reference point, and the image plane center point-focal point distance OE'.

[0063] Specifically, the positional relationship among the object plane center point E, the object plane reference point L, the image plane center point E', the image plane reference point L', and the focal point O of the camera A2 is as shown in the attached Figure 5 Figure.

[0064] In the attached Figure 5 Figure, the imaging plane actual center H' is marked on the imaging plane 10, and it is known from the imaging principle that the line segment OH' is perpendicular to the imaging plane, so OH' is perpendicular to OE'.

[0065] In the right triangle OH'E', since OH' 2 +H'E' 2 =OE' 2 , and according to the definition of focal length, the line segment OH' is equal to the focal length f; the length of H'E' can be obtained by measuring with a micrometer, so the value a' of the hypotenuse OE' can be calculated.

[0066] Since the line segment E'L' is the image of the line segment EL with respect to the focal point O, it is ΔOLE≈ΔOL'E'.

[0067] Therefore, EL / OE=E'L' / OE', i.e. OE=EL*OE' / E'L'.

[0068] The length b of EL and the length b' of E'L' are obtained by micrometer measurement, and the value a' of OE' has been obtained by calculation in the previous step, so the length a of OE can be calculated as a = b * a' / b'.

[0069] Then, based on the same similar triangle rule, the second distance c, i.e. the length of OL, is calculated by the distance EL between the object center point and the reference point, the distance E'L' between the image center point and the image reference point, and the distance OL' between the image reference point and the focus point.

[0070] Specifically, in the attached Figure 5 In the attached

[0071] In the right triangle OH'L', OH' 2 + H'L' 2 = OL' 2 ; and according to the definition of focal length, the length of OH' is equal to the focal length f; the length of H'L' can be obtained by micrometer measurement, so the length c' of the hypotenuse OL' can be calculated as c' = b * c' / b'.

[0072] Since the line segment E'L' is the image of the line segment EL with respect to the focus point O, the triangles OLE and OL'E' are similar.

[0073] Therefore, EL / OL = E'L' / OL', i.e. OL = EL * OL' / E'L'.

[0074] The length b of EL and the length b' of E'L' are obtained by micrometer measurement, and the length c' of OL' has been obtained by calculation in the previous step, so the length c of OL can be calculated as c = b * c' / b'.

[0075] S102, according to the third distance between the object center point and the object reference point, and the first distance and the second distance, calculate the deflection angle of the camera optical axis of the single camera relative to the center line of the calibration template.

[0076] As an optional implementation, the above steps specifically include:

[0077] Obtain the third distance between the center point and the object reference point.

[0078] According to the first distance, the second distance and the third distance, calculate the cosine value of the deflection angle of the camera optical axis of the camera relative to the center line of the calibration template.

[0079] According to the cosine value, calculate the deflection angle of the camera optical axis of the camera relative to the center line of the calibration template.

[0080] For example, continue to use the diagram of Figure 5 and the data a, b, c obtained by the last step, in △ELO, the first distance a, the second distance c, the third distance b, and the size r of ∠LEO opposite to the line segment LO satisfy the cosine theorem:

[0081] Therefore, the cosine value cosr of ∠LEO can be obtained, and the size r of ∠LEO can be obtained by looking up a table or the like.

[0082] Then, since the deflection angle θ1 of the camera A2 with respect to the center mark 8 of the calibration template ChartA3 is θ1 = 90°-r, θ1 can be obtained.

[0083] By the same method, the deflection angle θ2 of the camera B4 with respect to the center mark 9 of the calibration template ChartB5 can be obtained, and the specific process is not described here.

[0084] S103, obtaining the deflection angle corresponding to each camera and summing up to calibrate the angular deviation.

[0085] For example, θ1+θ2 is used as the angular deviation to calibrate the multi-camera module.

[0086] As an optional embodiment, when the number of cameras in the module is n, the deflection angles θ1, θ2,..., θn corresponding to each camera are obtained, and then the deflection angles θ1, θ2,..., θn are summed up to obtain the angular deviation of the n-camera module.

[0087] The embodiment does not need to use a complex calibration system or a device prone to damage, and the first distance, the second distance, and the third distance can be obtained by ordinary measurement methods, avoiding device damage and rising production costs caused by measurement. Then, the deflection angle of a single camera is determined by calculating the first distance, the second distance, and the third distance; in the process of determining the deflection angle of a single camera, the mutual influence of the deflection angles of the single cameras is not involved, the process of calculating the angular deviation is divided into calculating the deflection angle of each camera, and finally all the deflection angles are summed up to obtain the angular deviation of the multi-camera module, reducing the calculation amount and simplifying the calibration process, thereby realizing simple and rapid calibration of the angular deviation of the multi-camera module.

[0088] Embodiment two

[0089] Based on the same inventive concept, the embodiment two of the present application provides a device for calibrating the angular deviation of a multi-camera module, which comprises a determination module, a calculation module, and a calibration module.

[0090] The determining module is configured to determine a first distance between a focal point of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focal point and a preset reference point of the object plane on the calibration template.

[0091] As an optional implementation, the determining module obtains a center point-reference point distance between the center point of the object plane and the reference point of the object plane, an image center point-image reference point distance between an image center point corresponding to the center point of the object plane on an imaging plane and an image reference point corresponding to the reference point of the object plane on the imaging plane, and an image center point-focal point distance between the image center point and the focal point.

[0092] The first distance is calculated based on the center point-reference point distance, the image center point-image reference point distance, and the image center point-focal point distance.

[0093] The second distance is calculated based on the center point-reference point distance, the image center point-image reference point distance, and the image reference point-focal point distance.

[0094] As an optional implementation, the determining module sets a camera optical axis of each camera to be consistent with a center mark line of a corresponding calibration template.

[0095] The calculating module is configured to calculate a deflection angle of a camera optical axis of a single camera relative to a center mark line of the calibration template based on a third distance between the center point of the object plane and the reference point of the object plane, and the first distance and the second distance.

[0096] As an optional implementation, the calculating module calculates a cosine value of the deflection angle of the camera optical axis of the camera relative to the center mark line of the calibration template based on the first distance, the second distance, and the third distance, and calculates the deflection angle of the camera optical axis of the camera relative to the center mark line of the calibration template based on the cosine value.

[0097] As an optional implementation, the calculating module pre-configures one calibration template for each camera, and sets a theoretical template included angle between two adjacent calibration templates based on an obtained theoretical template included angle.

[0098] As an optional implementation, the obtained theoretical template included angle comprises a theoretical image included angle between camera optical axes of two adjacent cameras.

[0099] As an optional implementation, the calibration template includes but is not limited to one or more of a cross chart or other calibration plate used for calibration or testing.

[0100] The calibration module is configured to obtain the deflection angles corresponding to each camera and sum the deflection angles to calibrate the angular deviation.

[0101] Embodiment three

[0102] Based on the same inventive concept, the embodiment three of the present application provides an electronic device, as shown in the accompanying drawings, comprising a memory 304, a processor 302, and a computer program stored in the memory 304 and executable on the processor 302, wherein the processor 302 executes the program to implement the steps of the above-mentioned calibration method of the angular deviation of the multi-camera module. Figure 6 As shown, the electronic device comprises a memory 304, a processor 302, and a computer program stored in the memory 304 and executable on the processor 302, wherein the processor 302 executes the program to implement the steps of the above-mentioned calibration method of the angular deviation of the multi-camera module.

[0103] In the above-mentioned calibration method of the angular deviation of the multi-camera module, the camera module comprises a plurality of cameras, and the camera module is arranged on a camera module carrier. Figure 6 In the above-mentioned calibration method of the angular deviation of the multi-camera module, the camera module comprises a plurality of cameras, and the camera module is arranged on a camera module carrier. The bus architecture (represented by bus 300) can include any number of interconnecting buses and bridges, and the bus 300 links together various circuits such as the processor 302 represented by one or more processors and the memory 304 represented by the memory. The bus 300 can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and therefore, will not be described further herein. The bus interface 306 provides an interface between the bus 300 and the receiver 301 and the transmitter 303. The receiver 301 and the transmitter 303 can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, while the memory 304 can be used to store data used by the processor 302 in performing operations.

[0104] Embodiment four

[0105] Based on the same inventive concept, the embodiment four of the present application provides a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the steps of the above-mentioned calibration method of the angular deviation of the multi-camera module.

[0106] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with these teachings, with or without accompanying software. In addition, the present application is not necessarily limited to any particular programming language. It will be apparent to those of ordinary skill in the art that the present application can be implemented in a variety of programming languages. The descriptions of specific languages herein are provided for the purposes of disclosure only.

[0107] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order not to obscure the understanding of this description.

[0108] Similarly, it is to be understood that the embodiments of the present application can be readily combined with one another and / or other concepts, to produce further embodiments of the present application, without departing from the scope of the present application. Similarly, it is to be understood that, in the description above, individual features of the application have sometimes been described in conjunction with one or more of the embodiments of the application, but independent protection can be sought for any one or more of the individual features, in conjunction with any other one or more of the individual features. For example, if a feature is described in conjunction with an embodiment of the application, it will be apparent that the feature can be implemented in any other embodiment of the application, and in any independent claim, and in any combination with any other features or with any other claims. Furthermore, it is to be understood that features described in any individual claim can be combined with features described in any other claim, and / or any other feature or any other claim.

[0109] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into more sub-modules or sub-units or sub-components. Any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings), and any method or apparatus of any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings) can be adopted, except that at least some of such features and / or processes or units are mutually exclusive. Unless explicitly stated, each feature disclosed in the specification (including the accompanying claims, abstract and drawings) can be replaced by alternative features that serve the same, equivalent or similar purpose.

[0110] Furthermore, those skilled in the art will appreciate that different embodiments of the application have different features and that the features of one embodiment can be combined with features of another embodiment or not. Accordingly, it will be understood as the application encompasses all such possibilities.

[0111] Various component embodiments of the present application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. As will be appreciated by one skilled in the art, microprocessors or digital signal processors (DSPs) can be used to implement some or all of the functionality of some or all of the components in the electronic devices according to embodiments of the present application in practice. The present application can also be implemented as a program of instructions for performing part or all of the methods described herein, either directly or after transformation by a computer or data processing apparatus (e.g., a computer program and a computer program product). Such a program implementing the present application can be stored on a computer readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

[0112] The above description is merely that of the embodiments of the present application, and the common knowledge of the specific structures and characteristics in the art is not described in detail. Those skilled in the art know all the common technical knowledge in the field of the present application before the filing date or the priority date, can know all the prior art in the field, and have the ability to apply conventional experimental means before that date. Those skilled in the art can perfect and implement the present application with their own abilities based on the disclosure given in the present application, and some typical known structures or known methods should not be an obstacle for those skilled in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation in the specification can be used to explain the content of the claims.

Claims

1. A method for calibrating the angular deviation of a multi-camera module, characterized in that: The calibration method comprises: Determining a first distance between a focus of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focus and a preset object plane reference point on the calibration template; Calculating a deflection angle of a single camera's imaging optical axis relative to a central marking line of the calibration template based on a third distance between the object plane center point and the object plane reference point, the first distance, and the second distance; Obtaining the deflection angle corresponding to each camera and summing them to calibrate the angular deviation; Determining a first distance between a focus of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focus and a preset object plane reference point on the calibration template includes: Calibrate the position of the image plane center point corresponding to the object plane center point on the imaging plane, and obtain the image plane center point-focus distance between the image plane center point and the focus; Calibrate the position of the image plane reference point corresponding to the object plane reference point on the imaging plane, and obtain the image plane reference point-focus distance between the image plane reference point and the focus; The first distance is obtained by calculating the center point-reference point distance from the center point of the object plane to the object plane reference point, the image plane center point-image plane reference point distance from the center point of the image plane to the image plane reference point, and the image plane center point-focal point distance based on the law of similar triangles; The second distance is obtained by calculating the distance between the object plane center point and the reference point, the distance between the image plane center point and the image plane reference point, and the distance between the image plane reference point and the focal point.

2. The method for calibrating the angular deviation of a multi-camera module according to claim 1, wherein: Before determining the first distance, the imaging optical axis of each camera is set to fit the center mark line of the corresponding calibration template.

3. The method for calibrating the angular deviation of a multi-camera module according to claim 1, wherein: Calculating the deflection angle of the imaging optical axis of the single camera relative to the central marking line of the calibration template according to the third distance between the object plane center point and the object plane reference point, the first distance, and the second distance includes: Calculating a cosine value of a deflection angle of the camera optical axis relative to a central marking line of the calibration template based on the first distance, the second distance, and the third distance; The deflection angle of the camera optical axis relative to the central marking line of the calibration template is calculated according to the cosine value.

4. The method for calibrating the angular deviation of a multi-camera module according to claim 1, wherein: The method further includes pre-configuring a calibration template for each camera, and setting an angle between two adjacent calibration templates according to the obtained theoretical template angle.

5. The method for calibrating the angular deviation of a multi-camera module according to claim 4, wherein: Acquiring the theoretical template angle includes: calculating the theoretical template angle between the corresponding two calibration templates through the theoretical image plane angle between the camera optical axes of two adjacent cameras.

6. A method for calibrating the angular deviation of a multi-camera module according to any one of claims 1 to 5, characterized in that: The calibration template includes but is not limited to a cross chart, or one or more other calibration plates used for calibration or testing.

7. A device for calibrating the angular deviation of a multi-camera module, characterized in that: The device includes a determination module, a calculation module, and a calibration module; The determining module is configured to determine a first distance between a focus of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focus and a preset object plane reference point on the calibration template; The calculation module is configured to calculate a deflection angle of the imaging optical axis of the single camera relative to the central marking line of the calibration template based on a third distance between the object plane center point and the object plane reference point, as well as the first distance and the second distance; The calibration module is configured to obtain the deflection angle corresponding to each camera and sum the obtained deflection angles to calibrate the angular deviation; Determining a first distance between a focus of a single camera and a center point of an object plane on a pre-configured calibration template, and a second distance between the focus and a preset object plane reference point on the calibration template includes: Calibrate the position of the image plane center point corresponding to the object plane center point on the imaging plane, and obtain the image plane center point-focus distance between the image plane center point and the focus; Calibrate the position of the image plane reference point corresponding to the object plane reference point on the imaging plane, and obtain the image plane reference point-focus distance between the image plane reference point and the focus; The first distance is obtained by calculating the center point-reference point distance from the center point of the object plane to the object plane reference point, the image plane center point-image plane reference point distance from the center point of the image plane to the image plane reference point, and the image plane center point-focal point distance based on the law of similar triangles; The second distance is obtained by calculating the distance between the object plane center point and the reference point, the distance between the image plane center point and the image plane reference point, and the distance between the image plane reference point and the focal point.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method steps according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method steps according to any one of claims 1 to 6 are implemented.

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