Image alignment control method and device, computer device and storage medium

Abstract

This application relates to an image alignment control method, apparatus, computer device, and storage medium. The method is applied to a smart device equipped with a first camera and a second camera, and includes the following steps: after entering a powered-on state, controlling the second camera to extend via a connecting rod; rotating the first and second cameras by an angle, and controlling the first and second cameras to capture images at each angle to obtain corresponding images; comparing the images captured by the second camera with the images captured by the first camera at the corresponding angles; determining the first deviation data for each second camera at each angle based on the image comparison results, and correcting and aligning the images captured by the second camera based on the first deviation data. This solution can achieve reliable image alignment, thereby ensuring the imaging effect of the device.

Description

Technical Field

[0001] This application relates to the field of data alignment technology, and in particular to an image alignment control method, apparatus, computer device, and storage medium. Background Technology

[0002] With the development of equipment control technology, technologies have emerged that allow multiple devices on a device to work synchronously. For example, an item inspection robot uses multiple cameras mounted on it to simultaneously acquire information about an item at a specific location, thereby enabling the identification of that information, such as determining the item's location or the tracking number attached to it.

[0003] However, for some devices that are mounted on the device via connecting rods, the starting position of the device may change after power-on. If the captured images are evaluated according to the starting position manually written into the file, the data will not be aligned, affecting the imaging effect of the device.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] Therefore, it is necessary to provide an image alignment control method, apparatus, computer device, and storage medium that can correct images captured by cameras on smart devices to ensure the imaging effect of the devices, in order to address the above-mentioned technical problems.

[0006] An image alignment control method is applied to a smart device, wherein the smart device is equipped with a first camera device and connected to at least two second camera devices via a retractable connecting rod. The method includes: after entering a powered-on state, controlling the at least two second camera devices to be in an extended state via the connecting rod; rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images; comparing the images captured by the second camera devices with the images captured by the first camera device at the corresponding angles; determining the first deviation data of each second camera device at each angle based on the image comparison results, and correcting and aligning the images captured by the at least two second camera devices based on the first deviation data.

[0007] In one optional embodiment, the step of rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images, includes: controlling the first camera device and the at least two second camera devices to capture images of the front view to obtain corresponding frontal images; rotating the first camera device and the at least two second camera devices at least once to the left and right by a step of one pixel to rotate the first camera device and the at least two second camera devices, and controlling the first camera device and the at least two second camera devices to capture images after each rotation to obtain corresponding side images.

[0008] In an optional embodiment, comparing the images captured by the second camera device with the images captured by the first camera device at corresponding angles includes: comparing the frontal images of each second camera device with the frontal images of the first camera device; and comparing the side images of each second camera device with the side images of the first camera device at corresponding angles.

[0009] In an optional embodiment, the step of correcting the images captured by the at least two second cameras based on the first deviation data includes: for any one second camera, determining second deviation data between a side image at any angle and an image at a previous adjacent angle; the second deviation data being image deviation data under a single pixel angle difference; determining the extension distance of the any one second camera based on the second deviation data; and correcting the image captured by the any one second camera based on the first deviation data and the extension distance.

[0010] In an optional embodiment, determining the first deviation data of each second camera device at each angle based on the image comparison results includes: for any angle, determining the image overlap area between the image captured by any second camera device and the image captured by the first camera device based on the image comparison results; determining the deviation pixel value based on the image overlap area, and determining the deviation pixel value as the first deviation data of the corresponding second camera device at the corresponding angle.

[0011] In an optional embodiment, the step of correcting and aligning the images captured by the at least two second cameras according to the first deviation data includes: after exiting the correction mode, when any one of the second cameras captures an image, obtaining the pixel value of the corresponding image; and filling in the pixel value according to the corresponding first deviation data to obtain the corrected image.

[0012] In one optional embodiment, the first camera device is a 3D laser, the second camera device is a camera, and the three cameras are connected to the smart device via retractable connecting rods.

[0013] An image alignment control device is applied to a smart device, wherein the smart device is equipped with a first camera and connected to at least two second camera devices via a retractable connecting rod. The device includes: an extension control module, used to control the at least two second camera devices to extend in an extended state via the connecting rod after the device is powered on; a rotation shooting module, used to rotate the first camera device and the at least two second camera devices at least two angles, and control the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images; an image comparison module, used to compare the images captured by the second camera devices with the images captured by the first camera device at the corresponding angles; and a correction module, used to determine the first deviation data of each second camera device at each angle based on the image comparison results, and to correct and align the images captured by the at least two second camera devices based on the first deviation data.

[0014] A computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: after entering a power-on state, controlling at least two second camera devices to extend in an extended state via a connecting rod; rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images; comparing the images captured by the second camera devices with the images captured by the first camera devices at the corresponding angles; determining the first deviation data of each second camera device at each angle based on the image comparison results, and correcting and aligning the images captured by the at least two second camera devices based on the first deviation data.

[0015] A computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps: upon entering a power-on state, controlling at least two second camera devices to extend via a connecting rod; rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images; comparing the images captured by the second camera devices with the images captured by the first camera device at the corresponding angles; determining first deviation data for each second camera device at each angle based on the image comparison results, and correcting and aligning the images captured by the at least two second camera devices based on the first deviation data.

[0016] The image alignment control method described above, upon powering on, controls the second camera to extend; rotates the first and second cameras by at least two angles, and captures images at each angle; compares the images captured by the second camera with the images captured by the first camera at the corresponding angles; determines the first deviation data for each second camera at each angle based on the image comparison results, and corrects and aligns the images captured by at least two second cameras based on the first deviation data. By determining the deviation data through image comparison between the second and first cameras at different angles and then correcting and aligning the images of the second cameras, the imaging effect of the device can be guaranteed. Correspondingly, the image alignment control device, equipment, and storage medium provided in this application also have the above-mentioned technical effects. Attached Figure Description

[0017] Figure 1 This is an application environment diagram of an image alignment control method in one embodiment;

[0018] Figure 2 This is a flowchart illustrating an image alignment control method in one embodiment;

[0019] Figure 3 This is a structural block diagram of an image alignment control device in one embodiment;

[0020] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] The image alignment control method provided in this application can be applied to application environments that include smart devices. For example... Figure 1 As shown, the smart device is equipped with a first camera device 101 and is connected to at least two second camera devices 102 via a retractable connecting rod (not shown in the figure). Figure 1 The diagram shows three second camera devices. In practical applications, the number of second camera devices can be more or less. The intelligent device rotates the first and second camera devices, and after each rotation, it controls the first and second camera devices to capture images respectively. The images captured by the second camera devices are then compared with those captured by the first camera device. Based on the comparison results, deviation data is determined, and the image captured by the first camera device is corrected according to the deviation data. This intelligent device can be an intelligent robot, specifically a delivery robot or similar equipment. Each second camera device can be installed independently on the intelligent device, or they can be installed together on the intelligent device through a linkage structure.

[0023] In one embodiment, such as Figure 2 As shown, an image alignment control method is provided, which is applied to... Figure 1 Taking a smart device as an example, the smart device is equipped with a first camera and connected to at least two second cameras via a retractable connecting rod. The method includes the following steps:

[0024] S201, after entering the power-on state, the connecting rod controls the at least two second camera devices to be in the extended state.

[0025] Optionally, both the first and second camera devices can be equipped with a sliding cover, which closes when the smart device is powered off. Each time the smart device is powered on, the sliding cover can be opened, and the connecting rod can be extended to extend the second camera device, at which point both the first and second camera devices are ready to take pictures.

[0026] In addition, smart devices can automatically enter a self-test program each time they are powered on, that is, automatically enter calibration mode.

[0027] In one alternative embodiment, the first camera device and the second camera device can be different types of camera devices.

[0028] In one optional embodiment, the first camera device is fixedly mounted on the smart device. This ensures that the position of the first camera device remains constant each time the smart device is powered on, thus eliminating the need for calibration. Furthermore, in addition to its camera function, the first camera device can also have a distance detection function, enabling autonomous calibration based on the detected distance. Therefore, no additional calibration of the images captured by the first camera device is required.

[0029] Optionally, the first imaging device is a 3D laser, and the second imaging device is a camera. The smart device is connected to three cameras via retractable connecting rods. Furthermore, the 3D laser can perform 3D ranging, thus it can automatically calibrate based on the measured distance after each image capture, without needing to compare and correct it separately with the camera. Therefore, the image captured by the camera can be compared with the image captured by the 3D laser to correct the image captured by the camera.

[0030] S202, drive the first camera device and the at least two second camera devices to rotate at least two angles, and control the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images.

[0031] Because the first and second camera devices are installed on the smart device, when the smart device rotates, it can drive the first and second camera devices to rotate synchronously.

[0032] In one optional embodiment, the step of rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images, includes: controlling the first camera device and the at least two second camera devices to capture images of the front view to obtain corresponding frontal images; rotating the first camera device and the at least two second camera devices at least once to the left and right by a step of one pixel to rotate the first camera device and the at least two second camera devices, and controlling the first camera device and the at least two second camera devices to capture images after each rotation to obtain corresponding side images.

[0033] Optionally, after the smart device is powered on, the first and second cameras can face forward. This angle can be designated as 0. The smart device then rotates the first and second cameras multiple times in 1-degree increments, either clockwise (right-side rotation) or counter-clockwise (left-side rotation). Each rotation is assigned a specific angle number; for example, a 1-degree counter-clockwise rotation is designated as -1, and a 1-degree clockwise rotation as 1. After each rotation, the first and second cameras can be controlled to capture images. This rotational shooting method yields images from multiple angles, with each angle represented by a set of images (each set containing one image from the first camera and three images from the second camera). The resulting comparison of these images can then be used to determine the deviation data.

[0034] Optionally, the smart device can rotate 5 degrees counterclockwise and 5 degrees clockwise to obtain 10 sets of side images and 1 set of front images.

[0035] S203, compare the image captured by the second camera device with the image captured by the first camera device at the corresponding angle.

[0036] In an optional embodiment, comparing the images captured by the second camera device with the images captured by the first camera device at corresponding angles includes: comparing the frontal images of each second camera device with the frontal images of the first camera device; and comparing the side images of each second camera device with the side images of the first camera device at corresponding angles.

[0037] In the above embodiments, images within the same image set are compared. Specifically, the images from each of the second cameras are compared with the images from the first camera in the same image set, resulting in three comparison results. This comparison method can eliminate angular differences, fully compare the deviations between the second and first cameras, and thus obtain the deviation data at the corresponding angles to achieve correction and alignment.

[0038] Optionally, the first imaging device can be a 3D laser, which can capture a laser image of the scene being photographed, and the second imaging device can be a camera, which can capture a regular image of the scene being photographed. Since both the laser image and the regular image contain feature information about the object being photographed—for example, the outline of the object can be displayed in the image through contour recognition—the two images can be compared based on this feature information to determine the deviation of the object in the two images, such as positional deviation, and thus obtain deviation data.

[0039] S204, determine the first deviation data of each second camera device at each angle based on the image comparison results, and correct and align the images captured by the at least two second cameras based on the first deviation data.

[0040] The deviation data can be the deviation pixel values ​​in various directions of the image, for example, a difference of 5 pixels at the bottom and a difference of 10 pixels on the left. Optionally, deviation data can be available for each angle. Subsequently, before correction and alignment, matching deviation data can be determined based on the current angle of the second camera device, and then the image can be corrected and aligned based on the matching deviation data.

[0041] The images captured by the second camera device can be corrected and aligned in at least the following ways:

[0042] 1) Direct image adjustment. Adjust the image based on the first deviation data. For example: based on the images corresponding to the left and down shifts of the first deviation data, the resulting image is the corrected image;

[0043] 2) Adjusting image feature information. When it is necessary to determine the features of an object in the image, the first deviation data is added. For example, if it is necessary to output the coordinates of a point in the image, after obtaining the coordinates A in the image, the pixel values ​​corresponding to the first deviation data are superimposed on the coordinates (for example, reduce it by 5 pixels downwards and 10 pixels to the left) to obtain coordinates A'. Coordinates A' are then used as the final coordinates of the point in the image for output.

[0044] Optionally, the smart device can rotate multiple times until it reaches its maximum rotation angle. In this way, the first deviation data can be used to correct for all possible rotation angles of the second camera device, ensuring that all images captured by the second camera device are reliably corrected.

[0045] In some embodiments, correction can be achieved based on the comparison results of the same set of images. In other embodiments, correction can also be achieved by combining the comparison results of different sets of images. For example, correction parameters can be determined based on the image comparison results between the same camera device at adjacent rotation angles, and the images captured by the second camera device can be corrected and aligned based on these correction parameters. Alternatively, the correction parameters can be fused with the first deviation data determined in the aforementioned embodiments to correct and align the images captured by the second camera device. The method of correcting the images captured by the second camera device according to the correction parameters and / or the first deviation data can be the same as in the aforementioned embodiments, and will not be repeated here.

[0046] In an optional embodiment, correcting the images captured by the at least two second cameras based on the first deviation data includes: for any one second camera, determining second deviation data between a side image at any angle and an image at a previous adjacent angle; the second deviation data being image deviation data based on a single pixel angle difference; determining the extension distance of the arbitrary second camera based on the second deviation data; and correcting the image captured by the arbitrary second camera based on the first deviation data and the extension distance. The extension distance of the second camera can be determined based on geometric relationships (angle difference being a single pixel) and the second deviation data.

[0047] Optionally, the image size captured by the second camera can be adjusted based on the extension distance. For example, if the extension distance is greater than a reference extension distance, the image size captured by the second camera is reduced by a corresponding proportion; if the extension distance is less than the reference extension distance, the image size captured by the second camera is enlarged by a corresponding proportion; if the extension distance is equal to the reference extension distance, the image size captured by the second camera is not adjusted. After the size adjustment is completed, the image captured by the second camera can be corrected based on the first deviation data. The specific implementation method can be found in the aforementioned embodiments and will not be repeated here.

[0048] In an optional embodiment, the adjacent angle (i.e., rotation angle compensation) can be any angle other than 1 degree. Further, the step of correcting the images captured by the at least two second cameras based on the first deviation data includes: determining the angle difference between the current angle and the previous adjacent angle; for any one second camera, determining second deviation data between the image at the current angle and the image at the previous adjacent angle; determining the extension distance of the arbitrary second camera based on the angle difference and the second deviation data; and correcting the image captured by the arbitrary second camera based on the first deviation data and the extension distance.

[0049] In an optional embodiment, determining the first deviation data of each second camera device at each angle based on the image comparison results includes: for any given angle, determining the image overlap region between the image captured by any second camera device and the image captured by the first camera device based on the image comparison results; determining deviation pixel values ​​based on the image overlap region, and defining the deviation pixel values ​​as the first deviation data of the corresponding second camera device at the corresponding angle. Alternatively, non-overlapping regions can be determined based on the image overlap region, and then the deviation pixel values ​​can be obtained based on the non-overlapping regions.

[0050] In an optional embodiment, the step of correcting and aligning the images captured by the at least two second cameras according to the first deviation data includes: after exiting the correction mode, when any one of the second cameras captures an image, obtaining the pixel value of the corresponding image; and filling in the pixel value according to the corresponding first deviation data to obtain the corrected image.

[0051] Optionally, when the second camera captures an image, the rotation angle of the second camera is determined.

[0052] Optionally, after exiting the calibration mode, the images captured by the second camera can be calibrated based on the previously determined first deviation data. In this way, the first deviation data is automatically determined after the smart device is powered on, and subsequent images captured by the second camera can be calibrated based on this first deviation data, without having to recalculate the deviation data for each capture, thus effectively improving the efficiency of image calibration.

[0053] In one optional embodiment, the total deviation data of the second camera can be obtained by integrating the first deviation data of the same second camera at various angles, and the second camera can be corrected based on the total deviation data. This method eliminates the need for separate correction at each angle, effectively improving correction efficiency.

[0054] In an optional embodiment, overall deviation data can be obtained by integrating the first deviation data of each second camera device at various angles, and the second camera devices can be synchronously corrected based on this overall deviation data. Furthermore, each second camera device can be mounted on a linkage structure, and the linkage structure can be adjusted based on the overall deviation data to correct each second camera device, resulting in images captured by the corrected second camera devices having higher accuracy.

[0055] In the above image alignment control method, the deviation data is determined by comparing the images of the second camera device and the first camera device at different angles, and then the image of the second camera device is corrected and aligned, which can ensure the imaging effect of the device.

[0056] This application also provides an application scenario in which the above-described image alignment control method is applied. Specifically, the image alignment control method is applied in this scenario as follows:

[0057] 1. The robot is powered on and automatically enters the self-test program.

[0058] 2. Open the sliding cover to extend the camera, making all three cameras and one 3D laser on the robot capable of recording.

[0059] 3. Set the front angle to 0 and capture images from each camera and 3D laser.

[0060] 4. First, rotate clockwise by 1 degree to capture images from each camera and the 3D laser; then rotate clockwise by 1 degree again to capture images from each camera and the 3D laser, and so on, to obtain 5 sets of images from the clockwise angle. Next, starting from 0 degrees, rotate counter-clockwise by 1 degree to capture images from each camera and the 3D laser; then rotate counter-clockwise by 1 degree again to capture images from each camera and the 3D laser, and so on, to obtain 5 sets of images from the counter-clockwise angle.

[0061] 5. Compare the images from the same camera at adjacent angles. The above results can be compared up to 10 times. The launch distance of the corresponding camera is obtained by integrating the average of these comparison results.

[0062] 6. Compare the images from each camera with the 3D laser images in the same set of images to obtain the first deviation data.

[0063] 7. Exit the self-test program. When the camera captures a new image, the size of the image is corrected based on the ejection distance. The first deviation data that matches the current rotation angle of the camera is obtained. The first deviation data that matches the image is used as the completion data to correct and complete the pixel values ​​of the image.

[0064] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0065] Based on the same idea as the image alignment control method in the above embodiments, the present invention also provides an image alignment control device, which can be used to execute the above image alignment control method. For ease of explanation, the structural schematic diagram of the image alignment control device embodiment only shows the parts related to the embodiments of the present invention. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0066] In one embodiment, such as Figure 3 As shown, an image alignment control device is provided for use in a smart device. The smart device is equipped with a first camera and connected to at least two second cameras via a retractable connecting rod. The device can be a software module, a hardware module, or a combination of both, integrated into a computer device. Specifically, the device includes:

[0067] The extension control module 301 is used to control the at least two second camera devices to be in the extended state via the connecting rod after entering the power-on state;

[0068] The rotating shooting module 302 is used to drive the first camera device and the at least two second camera devices to rotate at least two angles, and control the first camera device and the at least two second camera devices to capture the scene at each angle to obtain the corresponding image;

[0069] The image comparison module 303 is used to compare the image captured by the second camera device with the image captured by the first camera device at the corresponding angle.

[0070] The correction module 304 is used to determine the first deviation data of each second camera device at each angle based on the image comparison results, and to correct and align the images captured by the at least two second cameras based on the first deviation data.

[0071] In the above-mentioned image alignment control device, the deviation data is determined by comparing the images of the second camera device and the first camera device at different angles, and then the image of the second camera device is corrected and aligned, which can ensure the imaging effect of the device.

[0072] In one optional embodiment, the rotating shooting module includes: a front image shooting submodule, used to control the first camera device and the at least two second cameras to shoot a picture of the front to obtain a corresponding front image; and a side image shooting submodule, used to rotate at least once to the left and right according to a step size of one pixel to drive the first camera device and the at least two second cameras to rotate, and after each rotation, control the first camera device and the at least two second cameras to shoot a picture to obtain a corresponding side image.

[0073] In one optional embodiment, the image comparison module includes: a frontal image comparison submodule, used to compare the frontal images of each of the second cameras with the frontal image of the first camera respectively;

[0074] The side image comparison submodule is used to compare the side images of each second camera device with the side images of the first camera device at the corresponding angles.

[0075] In one optional embodiment, the correction module includes: a first deviation data determination submodule, configured to determine, for any one of the second cameras, a second deviation data between a side image at any angle and an image at a previous adjacent angle; the second deviation data being image deviation data under a single pixel angle difference; an extension distance determination submodule, configured to determine the extension distance of the any one of the second cameras based on the second deviation data; and an image correction submodule, configured to correct the image captured by the any one of the second cameras based on the first deviation data and the extension distance.

[0076] In an optional embodiment, the correction module includes: an overlap region determination submodule, configured to determine, for any angle, the image overlap region between an image captured by a second camera and an image captured by a first camera based on an image comparison result; and a second deviation data determination submodule, configured to determine a deviation pixel value based on the image overlap region, and to determine the deviation pixel value as the first deviation data corresponding to the second camera at the corresponding angle.

[0077] In one optional embodiment, the correction module includes: a pixel value acquisition submodule, used to acquire the pixel value of the corresponding image when any of the second camera devices captures an image after exiting the correction mode; and a completion submodule, used to complete the pixel value according to the corresponding first deviation data to obtain the corrected image.

[0078] In one optional embodiment, the first camera device is a 3D laser, the second camera device is a camera, and the three cameras are connected to the smart device via retractable connecting rods.

[0079] Specific limitations regarding the image alignment control device can be found in the limitations of the image alignment control method described above, and will not be repeated here. Each module in the aforementioned image alignment control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the computer device, or stored in software in the memory of the computer device, so that the processor can call and execute the corresponding operations of each module.

[0080] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements an image alignment control method.

[0081] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0082] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0083] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0084] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An alignment control method of images, characterized by, Applied to smart devices, wherein the smart device is equipped with a first camera and connected to at least two second camera devices via a retractable connecting rod, the method includes: After entering the power-on state, the connecting rod controls the at least two second camera devices to be in the extended state; The first camera and the at least two second cameras are rotated at least two angles, and at each angle, the first camera and the at least two second cameras are controlled to capture images to obtain corresponding pictures. The images captured by the second camera device are compared with the images captured by the first camera device at the corresponding angles. Based on the image comparison results, the first deviation data of each second camera device at each angle is determined, and the images captured by the at least two second cameras are corrected and aligned based on the first deviation data. The first deviation data is the deviation pixel value in each direction of the image.

2. The method of claim 1, wherein, The process of rotating the first camera device and the at least two second camera devices by at least two angles, and controlling the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images, includes: The first camera device and the at least two second cameras are controlled to capture images of the front view to obtain a corresponding front view image; The device rotates at least once to the left and right with a step size of one pixel to rotate the first camera and the at least two second cameras. After each rotation, the first camera and the at least two second cameras are controlled to capture images to obtain the corresponding side images.

3. The method of claim 2, wherein, The step of comparing the image captured by the second camera device with the image captured by the first camera device at the corresponding angle includes: The front images of each second camera device are compared with the front image of the first camera device. The side images of each second camera device are compared with the side images of the first camera device at the corresponding angles.

4. The method of claim 2, wherein, The step of correcting and aligning the images captured by the at least two second cameras based on the first deviation data includes: For any second camera device, determine the second deviation data between the side image at any angle and the image at the previous adjacent angle; the second deviation data is the image deviation data under a single pixel angle difference. The extension distance of any one of the second camera devices is determined based on the second deviation data; The image captured by any one of the second cameras is corrected based on the first deviation data and the extension distance.

5. The method according to any one of claims 1 to 4, characterized in that, The step of determining the first deviation data of each second camera device at each angle based on the image comparison results includes: For any given angle, the image overlap area between the image captured by the second camera and the image captured by the first camera is determined based on the image comparison results; Based on the overlapping area of ​​the image, the deviation pixel value is determined, and the deviation pixel value is determined as the first deviation data of the corresponding second camera device at the corresponding angle.

6. The method of claim 5, wherein, The step of correcting and aligning the images captured by the at least two second cameras based on the first deviation data includes: After exiting the calibration mode, when any of the second camera devices captures an image, the pixel value of the corresponding image is obtained; The pixel values ​​are padded according to the corresponding first deviation data to obtain the corrected image.

7. The method according to any one of claims 1 to 4, characterized in that, The first camera device is a 3D laser, the second camera device is a camera, and the three cameras are connected to the smart device via retractable connecting rods.

8. An image alignment control device, characterized in that, Applied to smart devices, the smart devices are equipped with a first camera device and connected to at least two second camera devices via a retractable connecting rod, the device includes: An extension control module is used to control the at least two second camera devices to be in the extended state via the connecting rod after the device is powered on. A rotating shooting module is used to rotate the first camera device and the at least two second camera devices by at least two angles, and control the first camera device and the at least two second camera devices to capture images at each angle to obtain corresponding images; The image comparison module is used to compare the image captured by the second camera device with the image captured by the first camera device at the corresponding angle. The correction module is used to determine the first deviation data of each second camera device at each angle based on the image comparison results, and to correct and align the images captured by the at least two second cameras based on the first deviation data. The first deviation data is the deviation pixel value in each direction of the image.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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