Camera array field error control method, device, equipment and medium

Abstract

The embodiments of the present application disclose a camera array field error control method, device, equipment and medium, which relate to the field of digital measurement. The method includes: after calibrating the cameras in the camera array before measurement, obtaining the initial pixel coordinate matrix of the camera array; in the process of collecting data by the camera array, obtaining the pixel coordinate matrix of the camera array again; according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, obtaining the judgment matrix; according to the judgment matrix, obtaining the external parameter change results of the cameras in the camera array; according to the external parameter change results, recalibrating the cameras in the camera array. By judging whether the external parameters of the camera have changed through the relationship between the change of the matrix composed of the relative pixel coordinates between the cameras in the camera array and the accuracy threshold, it is possible to accurately judge whether the camera external parameters have changed and avoid measurement errors.

Description

Technical Field

[0001] The present application relates to the field of digital measurement technology, and in particular to a camera array field error control method, device, equipment and medium. Background Art

[0002] Photogrammetry is highly efficient and low-cost, and has been applied in many fields. In large-scale measurement scenarios, multiple industrial cameras are usually networked for measurement through internal and external parameter calibration. However, in workshop production environments, due to the influence of environmental and human factors, the relative position and posture of industrial cameras are prone to change, resulting in differences between the actual external parameters and the external parameters calibrated before measurement during the measurement process, resulting in large measurement errors. However, there is currently a lack of corresponding technical means to control such errors. Summary of the invention

[0003] The main purpose of the present application is to provide a camera array field error control method, device, equipment and medium, aiming to solve the technical problem that the measurement error of the camera array cannot be controlled in the prior art.

[0004] To achieve the above objectives, the present application provides a camera array field error control method, comprising:

[0005] After pre-measurement calibration of the cameras in the camera array, an initial pixel coordinate matrix of the camera array is obtained; the initial pixel coordinate matrix includes initial pixel coordinates of the cameras within the field of view of each camera in the camera array;

[0006] During the process of data acquisition by the camera array, a pixel coordinate matrix of the camera array is acquired again; the pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during the process of data acquisition;

[0007] According to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, a judgment matrix is ​​obtained; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix;

[0008] According to the judgment matrix, obtaining the external parameter change results of the cameras in the camera array;

[0009] According to the extrinsic parameter change result, the cameras in the camera array are recalibrated.

[0010] Optionally, the judgment matrix R is expressed as follows:

[0011]

[0012] in, pij is the element in the initial pixel coordinate matrix, q ij The elements in the matrix are obtained by subtracting the initial pixel coordinate matrix from the pixel coordinate matrix, σ is the accuracy threshold, i and j both represent camera numbers, n represents the number of cameras in the camera array, and i, j = 1, 2, ..., n.

[0013] Optionally, the step of obtaining the extrinsic parameter change results of cameras in the camera array according to the judgment matrix includes:

[0014] Get the first number of elements in the jth column corresponding to camera j in the judgment matrix R, where the first number of elements satisfies element r ij = the number of elements of 1;

[0015] If the number of the first elements is greater than 1, the extrinsic parameters of camera j change.

[0016] Optionally, after the step of obtaining the number of first elements in the j-th column corresponding to the camera j in the judgment matrix R, the step further includes:

[0017] If the number of the first elements is equal to 0, then no external parameter change occurs to camera j.

[0018] Optionally, after the step of obtaining the number of first elements in the j-th column corresponding to the camera j in the judgment matrix R, the step further includes:

[0019] If the first number of elements is equal to 1, then get the second number of elements in the row where the first number of elements is equal to 1, and the second number of elements satisfies the element r ij = the number of elements with -1;

[0020] If the number of the second elements is less than or equal to 1, the extrinsic parameters of camera j change.

[0021] Optionally, the step of obtaining the number of second elements in the row where the element number equals 1 is located includes:

[0022] If the number of the second element is greater than 1, then no extrinsic changes occur in camera j.

[0023] Optionally, the step of recalibrating the cameras in the camera array according to the extrinsic parameter change result includes:

[0024] When the extrinsic parameter change result of the cameras in the camera array is that an extrinsic parameter change occurs, the cameras in the camera array are recalibrated.

[0025] In addition, to achieve the above-mentioned purpose, the present application also provides a camera array field error control device, comprising:

[0026] A first acquisition module is used to acquire an initial pixel coordinate matrix of the camera array after calibrating the cameras in the camera array before measurement; the initial pixel coordinate matrix includes initial pixel coordinates of the cameras in the field of view of each camera in the camera array;

[0027] A second acquisition module is used to acquire a pixel coordinate matrix of the camera array again during the process of the camera array acquiring data; the pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during the process of acquiring data;

[0028] A matrix construction module, used to obtain a judgment matrix according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix;

[0029] An external parameter judgment module, used for obtaining the external parameter change results of the cameras in the camera array according to the judgment matrix;

[0030] A recalibration module is used to recalibrate the cameras in the camera array according to the external parameter change result.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-mentioned method.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the above-mentioned method.

[0033] The beneficial effects that can be achieved by this application.

[0034] The embodiments of the present application propose a camera array field error control method, device, equipment and medium, which include: after calibrating the cameras in the camera array before measurement, obtaining the initial pixel coordinate matrix of the camera array; the initial pixel coordinate matrix includes the initial pixel coordinates of the cameras in the field of view of each camera in the camera array; in the process of data acquisition by the camera array, obtaining the pixel coordinate matrix of the camera array again; the pixel coordinate matrix includes the pixel coordinates of the cameras in the field of view of each camera in the camera array during the data acquisition process; according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, obtaining a judgment matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix; according to the judgment matrix, obtaining the external parameter change results of the cameras in the camera array; according to the external parameter change results, recalibrating the cameras in the camera array. That is, this method determines whether the camera's extrinsic parameters have changed by comparing the relationship between the changes in the matrix formed by the relative pixel coordinates between cameras in the camera array and the accuracy threshold. It can accurately determine whether the camera's extrinsic parameters have changed, so that it can be recalibrated in time to avoid measurement errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiments of the present application;

[0036] Figure 2 A schematic flow chart of a camera array field error control method according to an embodiment of the present application;

[0037] Figure 3 Schematic diagram of functional modules of a camera array field error control device according to an embodiment of the present application.

[0038] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The main solution of the embodiment of the present application is to provide a camera array field error control method, device, equipment and medium, the method comprising: after calibrating the cameras in the camera array before measurement, obtaining the initial pixel coordinate matrix of the camera array; the initial pixel coordinate matrix includes the initial pixel coordinates of the cameras in the field of view of each camera in the camera array; in the process of data acquisition by the camera array, obtaining the pixel coordinate matrix of the camera array again; the pixel coordinate matrix includes the pixel coordinates of the cameras in the field of view of each camera in the camera array during the data acquisition process; according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, obtaining a judgment matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix; according to the judgment matrix, obtaining the external parameter change results of the cameras in the camera array; according to the external parameter change results, recalibrating the cameras in the camera array.

[0041] After analysis, it was found that due to the influence of environmental and human factors, the relative position and posture of industrial cameras are prone to change, resulting in differences between the actual external parameters in the measurement process and the external parameters calibrated before measurement, causing large measurement errors.

[0042] To this end, the present application provides a solution, including a camera array field error control method, device, equipment and medium. By judging whether the camera extrinsic parameters have changed through the relationship between the changes in the matrix composed of the relative pixel coordinates between cameras in the camera array and the accuracy threshold, it is possible to accurately judge whether the camera extrinsic parameters have changed, thereby recalibrating them in time to avoid measurement errors.

[0043] Reference Figure 1 , Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiment of the present application.

[0044] like Figure 1As shown, the computer device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the computer device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0046] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a memory, a network communication module, a user interface module, and a camera array field error control device.

[0047] exist Figure 1 In the computer device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the computer device of the present invention can be set in the computer device, and the computer device calls the camera array field error control device stored in the memory 1005 through the processor 1001, and executes the camera array field error control method provided in the embodiment of the present application.

[0048] Reference Figure 2 Based on the hardware device of the aforementioned embodiment, an embodiment of the present application provides a camera array field error control method, the method comprising:

[0049] S20. After pre-measurement calibration of the cameras in the camera array, an initial pixel coordinate matrix of the camera array is obtained; the initial pixel coordinate matrix includes initial pixel coordinates of the cameras within the field of view of each camera in the camera array.

[0050] In the specific implementation process, the method of this embodiment is used in the scene of photogrammetry. Therefore, before executing S20, it is necessary to first build a camera array field corresponding to the camera array. First, the visibility requirements of the object to be measured should be met so that the surface of the object to be measured can be covered by more than two camera fields of view; secondly, all cameras can be positioned by the entire camera array field, that is, any camera is within the field of view of any other two cameras. If the requirements cannot be met, the number of cameras is increased, and the final number of cameras is set to n; finally, the mark coding point can be pasted on the camera surface or the camera mounting structure so that the camera can be recognized and positioned by other cameras.

[0051] Specifically, after the camera array field is built, the cameras in the camera array field are calibrated before measurement to obtain the camera's intrinsic parameters and extrinsic parameters before measurement; after calibration, each camera extracts the coordinates of the pixel coordinate system of other camera marker coding points in the field of view, and forms an initial pixel coordinate matrix P0, as shown in the following formula:

[0052]

[0053] Among them, p ij is an element in the initial pixel coordinate matrix, i, j = 1, 2, ..., n, i and j both represent camera numbers, n represents the number of cameras in the camera array, p ij The value rules are as follows:

[0054]

[0055] It can be seen that in this embodiment, the position relationship, direction, etc. between the cameras are defined by using the definition of the matrix and the elements in the matrix, that is, the external parameters of the camera.

[0056] S40. During the process of data acquisition by the camera array, a pixel coordinate matrix of the camera array is acquired again; the pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during the process of data acquisition.

[0057] In the specific implementation process, the camera array may be displaced due to external factors during use. This will inevitably cause the relative position of the displaced camera to change with other cameras. Therefore, during the use of the camera array, each time imaging is performed while extracting the data of the point to be measured, the method in S20 can be used to respectively extract the coordinates of the pixel coordinate system of the other camera marker coding points in the field of view, and form a pixel coordinate matrix P1. It should be noted that the pixel coordinate matrix P1 here is similar to P0 and will not be repeated here.

[0058] S60. Obtain a judgment matrix according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix.

[0059] In the specific implementation process,

[0060] The initial pixel coordinate matrix is ​​subtracted from the pixel coordinate matrix by matrix operation to obtain a difference matrix Q:

[0061]

[0062] Among them, q ij To find the elements in the difference matrix, similarly, i, j = 1, 2, ..., n, i and j both represent camera numbers, and n represents the number of cameras in the camera array.

[0063] According to the difference matrix Q, the expression of the judgment matrix R is obtained as follows:

[0064]

[0065] in, p ij is the element in the initial pixel coordinate matrix, q ij The elements in the matrix are obtained by subtracting the initial pixel coordinate matrix from the pixel coordinate matrix, σ is the accuracy threshold, i and j both represent camera numbers, n represents the number of cameras in the camera array, i, j = 1, 2, ..., n. σ is usually taken as a value between 0.01 and 0.75, depending on the measurement accuracy requirements and production site conditions.

[0066] S80. Obtaining, according to the judgment matrix, extrinsic parameter change results of cameras in the camera array.

[0067] In the specific implementation process, since the elements in the judgment matrix R are based on q ij The value of p ij The relationship between the values ​​of and the precision threshold σ is defined as follows, that is, for example, |q ij |≥σ, which means the difference is greater than the precision threshold. ij , to determine whether the camera's external parameters have changed.

[0068] Specifically, the following methods can be used to make the judgment:

[0069] After obtaining the judgment matrix R, the row and column vectors of R can be used to determine whether the camera extrinsic parameters have changed. Specifically,

[0070] Take the jth column vector in R: rl j =[r 1j r 2j … r nj ] T

[0071] Let a be the number of vectors with values ​​of -1 in the j-th column of R, and b be the number of vectors with values ​​of 1 in the j-th column of R. Then we can determine whether the external parameters of camera j have changed by the following method:

[0072] If b = 0, the external parameters of camera j have not changed;

[0073] If b=1, let the row where the value is located be k, and take the row vector:

[0074] rh k =[r k1 r k2 … r kn ]

[0075] Let c be the number of values ​​of -1 in the k-th row vector of R, and d be the number of values ​​of 1 in the k-th row vector of R. If c≤1, the extrinsic parameters of camera j have changed; otherwise, the extrinsic parameters of camera j have not changed, and the parameter change is due to system random error, which can be eliminated by re-measurement.

[0076] If b>1, then the external parameters of camera j have changed;

[0077] Therefore, as an optional implementation, the step of obtaining the external parameter change results of the cameras in the camera array according to the judgment matrix includes:

[0078] Get the first number of elements in the jth column corresponding to camera j in the judgment matrix R, where the first number of elements satisfies element r ij = the number of elements of 1;

[0079] If the number of the first elements is greater than 1, the extrinsic parameters of camera j change.

[0080] As an optional implementation manner, after the step of obtaining the number of first elements in the j-th column corresponding to the camera j in the judgment matrix R, the method further includes:

[0081] If the number of the first elements is equal to 0, then no external parameter change occurs to camera j.

[0082] As an optional implementation manner, after the step of obtaining the number of first elements in the j-th column corresponding to the camera j in the judgment matrix R, the method further includes:

[0083] If the first number of elements is equal to 1, then get the second number of elements in the row where the first number of elements is equal to 1, and the second number of elements satisfies the element r ij = the number of elements with -1;

[0084] If the number of the second elements is less than or equal to 1, the extrinsic parameters of camera j change.

[0085] As an optional implementation, the step of obtaining the number of second elements in the row where the number of first elements is equal to 1 includes:

[0086] If the number of the second element is greater than 1, then no extrinsic changes occur in camera j.

[0087] S100: recalibrate the cameras in the camera array according to the external parameter change result.

[0088] In a specific implementation process, when the result of the change of the external parameters of the cameras in the camera array is that the external parameters have changed, the cameras in the camera array are recalibrated. Specifically, when the determination result is that the camera external parameters have changed, recalibration is required to improve the measurement accuracy; when the determination result is that the camera external parameters have not changed, the measurement can continue.

[0089] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present application. Those skilled in the art can make settings based on needs in actual applications and no limitation is made here.

[0090] It is not difficult to find out from the above description that the camera array field error control method of this embodiment includes: after calibrating the cameras in the camera array before measurement, obtaining the initial pixel coordinate matrix of the camera array; the initial pixel coordinate matrix includes the initial pixel coordinates of the cameras in the field of view of each camera in the camera array; in the process of data acquisition by the camera array, obtaining the pixel coordinate matrix of the camera array again; the pixel coordinate matrix includes the pixel coordinates of the cameras in the field of view of each camera in the camera array during the data acquisition process; according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, obtaining a judgment matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix; according to the judgment matrix, obtaining the external parameter change results of the cameras in the camera array; according to the external parameter change results, recalibrating the cameras in the camera array. That is, this method determines whether the camera's extrinsic parameters have changed by comparing the relationship between the changes in the matrix formed by the relative pixel coordinates between cameras in the camera array and the accuracy threshold. It can accurately determine whether the camera's extrinsic parameters have changed, so that it can be recalibrated in time to avoid measurement errors.

[0091] Furthermore, the method of this embodiment can realize real-time discovery and correction of measurement errors caused by changes in external parameters of the camera array field. Compared with the previous method of calibrating external parameters before measurement, it can effectively improve the measurement accuracy; it only requires pasting marking coding points when the camera is installed, and it is implemented through the algorithm without the introduction of other additional equipment assistance, and the material cost is low; it relies on the camera itself for imaging, and only requires visibility between cameras, and can be applied in multiple scenarios.

[0092] Reference Figure 3 Based on the same inventive concept, an embodiment of the present application further provides a camera array field error control device, comprising:

[0093] A first acquisition module is used to acquire an initial pixel coordinate matrix of the camera array after calibrating the cameras in the camera array before measurement; the initial pixel coordinate matrix includes initial pixel coordinates of the cameras in the field of view of each camera in the camera array;

[0094] A second acquisition module is used to acquire a pixel coordinate matrix of the camera array again during the process of the camera array acquiring data; the pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during the process of acquiring data;

[0095] A matrix construction module, used to obtain a judgment matrix according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix;

[0096] An external parameter judgment module, used for obtaining the external parameter change results of the cameras in the camera array according to the judgment matrix;

[0097] The recalibration module is used to recalibrate the cameras in the camera array according to the external parameter change result. It should be noted that each module in the camera array field error control device in this embodiment corresponds to each step in the camera array field error control method in the aforementioned embodiment. Therefore, the specific implementation method and technical effects achieved by this embodiment can refer to the implementation method of the aforementioned camera array field error control method, which will not be repeated here.

[0098] In addition, in one embodiment, the present application further provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method in the aforementioned embodiment are implemented.

[0099] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0100] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0101] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0102] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0103] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0104] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned implementation methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0106] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A camera array field error control method, characterized in that: include: After pre-measurement calibration of cameras in the camera array, obtaining an initial pixel coordinate matrix of the camera array; The initial pixel coordinate matrix includes initial pixel coordinates of cameras within the field of view of each camera in the camera array; During the process of data acquisition by the camera array, obtaining the pixel coordinate matrix of the camera array again; The pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during data collection; According to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix, a judgment matrix R is obtained; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix; the expression of the judgment matrix R is as follows: in, p ij is the element in the initial pixel coordinate matrix, q ij The elements in the matrix are obtained by subtracting the initial pixel coordinate matrix from the pixel coordinate matrix, σ is the precision threshold, i and j both represent camera numbers, n represents the number of cameras in the camera array, i, j = 1, 2, ..., n; Get the first number of elements in the jth column corresponding to camera j in the judgment matrix R, where the first number of elements satisfies element r ij = the number of elements of 1; If the number of the first elements is greater than 1, the external parameters of camera j change; If the first number of elements is equal to 1, then get the second number of elements in the row where the first number of elements is equal to 1, and the second number of elements satisfies the element r ij = the number of elements with -1; If the number of the second elements is less than or equal to 1, the external parameters of camera j change; According to the change of the external parameter, the cameras in the camera array are recalibrated.

2. The method according to claim 1, characterized in that After the step of obtaining the number of first elements in the jth column corresponding to the camera j in the judgment matrix R, the method further includes: If the number of the first elements is equal to 0, then no external parameter change occurs to camera j.

3. The method according to claim 1, characterized in that The step of obtaining the number of second elements in the row where the element number equals 1 is located comprises: If the number of the second element is greater than 1, then no extrinsic changes occur in camera j.

4. The method according to any one of claims 1 to 3, characterized in that The step of recalibrating the cameras in the camera array according to the change of the external parameters includes: When the extrinsic parameter change result of the cameras in the camera array is that an extrinsic parameter change occurs, the cameras in the camera array are recalibrated.

5. A camera array field error control device, characterized in that: include: A first acquisition module, used for acquiring an initial pixel coordinate matrix of the camera array after calibrating the cameras in the camera array before measurement; The initial pixel coordinate matrix includes initial pixel coordinates of cameras within the field of view of each camera in the camera array; A second acquisition module, used to acquire the pixel coordinate matrix of the camera array again during the process of the camera array collecting data; The pixel coordinate matrix includes pixel coordinates of cameras within the field of view of each camera of the camera array during data collection; A matrix construction module is used to obtain a judgment matrix R according to the difference between the initial pixel coordinate matrix and the pixel coordinate matrix; wherein the elements in the judgment matrix represent the relationship between the pixel coordinate difference and the accuracy threshold, and the pixel coordinate difference is the difference between the elements in the initial pixel coordinate matrix and the elements in the pixel coordinate matrix; the expression of the judgment matrix R is as follows: in, p ij is the element in the initial pixel coordinate matrix, q ij The elements in the matrix are obtained by subtracting the initial pixel coordinate matrix from the pixel coordinate matrix, σ is the precision threshold, i and j both represent camera numbers, n represents the number of cameras in the camera array, i, j = 1, 2, ..., n; The external parameter judgment module is used to obtain the first number of elements in the jth column corresponding to the camera j in the judgment matrix R, where the first number of elements satisfies the element r ij = the number of elements of 1; If the number of the first elements is greater than 1, the external parameters of camera j change; If the first number of elements is equal to 1, then get the second number of elements in the row where the first number of elements is equal to 1, and the second number of elements satisfies the element r ij = the number of elements with -1; If the number of the second elements is less than or equal to 1, the external parameters of camera j change; A recalibration module is used to recalibrate the cameras in the camera array according to the change of the external parameters.

6. A computer device, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 4.

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