Camera calibration methods, devices, electronic equipment, media and programs

Abstract

The application relates to the technical field of sensors, in particular to a camera calibration method and device, electronic equipment, medium and program, wherein the method comprises the following steps: acquiring the distance from a camera to the upper edge of a hub and the reference height value of the camera from the ground; identifying the height value of the hub at the current moment; calculating the current height value of the camera based on the height value of the hub at the current moment and the distance from the camera to the upper edge of the hub, and determining the calibration result of the camera according to the reference height value of the camera from the ground and the current height value. Thus, the problems that the applicability is low and the height value is inaccurate to affect the positioning and imaging effect of the camera caused by the way of inputting fixed values to determine the height of the camera in the related art are solved.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a camera calibration method, apparatus, electronic device, medium, and program. Background Technology

[0002] Camera installation inevitably involves calibration. From the camera to the camera module, from the camera module to the integrated unit, and then from the integrated unit to the vehicle bracket, mechanical errors are bound to occur throughout this entire installation process. The purpose of static calibration is to determine the camera's position and orientation within the vehicle, allowing software to compensate for these mechanical errors, rather than through mechanical adjustments. The calibration of the ADAS integrated unit is closely related to the camera's three-dimensional coordinate values. Accurate input of the camera's three-dimensional coordinate values ​​is required.

[0003] In related technologies, for a specific car model, the camera height is determined by inputting a fixed value. However, cameras are quite sensitive to height parameters and have a very small tolerable fluctuation range. Even for a specific car model, different tire pressures, wheel sizes, or even different vehicle configurations can cause changes in camera height, resulting in low applicability. Inaccurate height values ​​affect the camera's positioning and imaging effects. Summary of the Invention

[0004] This application provides a camera calibration method, apparatus, electronic device, storage medium, and program product to solve problems in related technologies, such as low applicability caused by determining camera height by inputting fixed values, and inaccurate height values ​​affecting camera positioning and imaging effects.

[0005] The first aspect of this application provides a camera calibration method, including the following steps: obtaining the distance from the camera to the upper edge of the wheel hub and a reference height value of the camera above the ground; identifying the current height value of the wheel hub; calculating the current height value of the camera based on the current height value of the wheel hub and the distance from the camera to the upper edge of the wheel hub, and determining the calibration result of the camera according to the reference height value of the camera above the ground and the current height value.

[0006] Optionally, determining the calibration result of the camera based on the reference height value of the camera above the ground and the current height value includes: determining the error value of the reference height value of the camera above the ground and the current height value relative to the camera; if the error value is within a preset range, then calibration continues; otherwise, a warning is issued through an alarm component, and the current height value is corrected based on the error value.

[0007] Optionally, the continued calibration includes: identifying a reference pitch angle, a reference yaw angle, and a reference rotation angle; obtaining the actual pitch angle, actual yaw angle, and actual rotation angle at the current moment; when the deviations of the actual pitch angle, actual yaw angle, and actual rotation angle from the reference pitch angle, the reference yaw angle, and the reference rotation angle are all lower than the target angle threshold, the calibration is completed; otherwise, a warning is issued through an alarm component, and the actual pitch angle, actual yaw angle, and actual rotation angle are corrected based on the error value.

[0008] Optionally, the alarm component includes an optical alarm component and an audible alarm component, used to perform audible and / or optical alarm actions when a calibration error occurs.

[0009] Optionally, before obtaining the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera above the ground, the method includes: inputting the parameter value of the camera into a preset model, wherein the preset model calculates the height value of the camera in the current state of the vehicle; determining the coordinate information of the corresponding camera based on the height value of the camera in the current state of the vehicle, and determining the reference height value of the corresponding camera above the ground based on the coordinate information.

[0010] Optionally, the preset model includes mathematical models for three different states: unloaded, half-loaded, and fully loaded. Before inputting the parameter values ​​of the camera into the preset model, the process includes selecting the corresponding mathematical model based on the actual state of the vehicle at the current moment.

[0011] A second aspect of this application provides a camera calibration device, comprising: an acquisition module for acquiring the distance from the camera to the upper edge of a wheel hub and a reference height value of the camera above the ground; an identification module for identifying the current height value of the wheel hub; and a calculation module for calculating the current height value of the camera based on the current height value of the wheel hub and the distance from the camera to the upper edge of the wheel hub, and determining a calibration result for the camera based on the reference height value of the camera above the ground and the current height value.

[0012] A third aspect of this application provides an electronic device, including: 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 camera calibration method as described in the above embodiments.

[0013] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the camera calibration method as described in the above embodiments.

[0014] A fifth aspect of this application provides a computer program product, which, when executed, is used to implement the camera calibration method as described in the above embodiments.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] In this embodiment, the distance from the camera to the upper edge of the wheel hub and the reference height of the camera from the ground are obtained; the height of the wheel hub at the current moment is identified; the current height of the camera is calculated based on the current height of the wheel hub and the distance from the camera to the upper edge of the wheel hub; and the calibration result of the camera is determined according to the reference height of the camera from the ground and the current height value. This can improve the accuracy of the camera height, avoid deviations, and improve the perception performance.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a flowchart illustrating a camera calibration method according to an embodiment of this application;

[0020] Figure 2 This is a schematic flowchart of a camera calibration method provided according to an embodiment of this application;

[0021] Figure 3 This is an example diagram of a camera calibration device according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0024] Static calibration involves aligning the vehicle with a selected calibration target and a defined visual marker area using a static method. Before calibration, the spatial arrangement of the calibration target and the vehicle, as well as various characteristic data of the vehicle, must be known. During calibration, the image of the calibration target recorded by the camera is reset based on the known position of the calibration target on site. The calibration parameters are the deviation between the recorded reset position of the calibration target and the position of the calibration board on site. The main calibration parameters are: camera height above the ground; camera pitch angle; camera yaw angle; and camera rotation angle.

[0025] Mechanical errors generated during the installation process of camera sensors need to be addressed to eliminate their impact. Currently, in the production line, static calibration requires accurate sensor installation coordinates, such as the camera's three-dimensional coordinates. However, current technologies assign a specific ground clearance value to the camera for a particular vehicle model, and this height input is typically done by setting a fixed value for that model. Cameras are highly sensitive to parameters, and the current calibration method does not accurately measure camera height, primarily due to the following two shortcomings:

[0026] (1) The camera is sensitive to height parameters and the tolerance range of fluctuation is very small. The current solution is to determine the camera height by inputting a fixed value for a specific car model.

[0027] (2) There are many factors that affect the height of the camera. Even for a fixed model, different tire pressures, wheel sizes, or even different vehicle configurations will cause changes in the height of the camera.

[0028] Currently, vehicles have many configurations, with different engines, transmissions, and even exterior differences between model years. All of these factors can affect the height of the camera to varying degrees. This invention primarily aims to eliminate the potential height variations caused by these external changes. Breaking down the camera height, the distance from the camera to the upper edge of the wheel rim is fixed for the same vehicle model. However, all configuration variations ultimately affect tire height, thus influencing the camera's height. Therefore, in this invention, the camera calibration height is obtained through calculation. First, a fixed value is input, then variable values ​​are read in real-time, and finally, an accurate camera height is obtained through a one-step calculation.

[0029] The following description, with reference to the accompanying drawings, outlines a camera calibration method, apparatus, vehicle, and storage medium according to embodiments of this application. Specifically, Figure 1 This is a schematic flowchart illustrating a camera calibration method provided in an embodiment of this application.

[0030] like Figure 1As shown, the calibration method for this camera includes the following steps:

[0031] In step S101, the distance from the camera to the upper edge of the wheel hub and the reference height of the camera from the ground are obtained.

[0032] It is understood that the embodiments of this application can obtain the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera from the ground, so as to calculate the current height value of the camera.

[0033] In this embodiment of the application, before obtaining the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera from the ground, the method includes: inputting the parameter value of the camera into a preset model, the preset model calculating the height value of the camera in the current state of the vehicle; determining the coordinate information of the corresponding camera based on the height value of the camera in the current state of the vehicle, and determining the reference height value of the corresponding camera from the ground based on the coordinate information.

[0034] The preset model can be a mathematical model, calibrated according to actual needs, without specific limitations.

[0035] It is understood that in this embodiment of the application, the parameter values ​​of the camera are input into a preset model to calculate the height value of the camera in the current state of the vehicle; the coordinate information of the camera is determined based on the height value of the camera in the current state of the vehicle, so as to subsequently determine the height value of the camera in the unloaded state of the vehicle based on the coordinate information of the camera.

[0036] In this embodiment of the application, the preset model includes mathematical models for three different states: no load, half load, and full load. Before inputting the parameter values ​​of the camera into the preset model, the following steps are taken: selecting the corresponding mathematical model according to the actual state of the vehicle at the current moment.

[0037] It is understood that the embodiments of this application can select the corresponding mathematical model according to the actual state of the vehicle at the current moment, thereby improving the accuracy of the model output.

[0038] In step S102, the height value of the wheel hub at the current moment is identified.

[0039] It is understood that the embodiments of this application can measure the height of the wheel hub in real time, so as to determine the calibration result of the camera based on the actual height of the camera from the ground and the current height.

[0040] In step S103, the current height of the camera is calculated based on the height of the wheel hub at the current moment and the distance from the camera to the upper edge of the wheel hub, and the calibration result of the camera is determined according to the actual height of the camera from the ground and the current height.

[0041] It is understood that the embodiments of this application can calculate the current height of the camera based on the current height of the wheel hub and the distance from the camera to the upper edge of the wheel hub, and determine the calibration result of the camera based on the actual height of the camera from the ground and the current height, which can improve the accuracy of the camera height, avoid deviation, and improve the perception performance.

[0042] In this embodiment of the application, the calibration result of the camera is determined based on the actual height value of the camera above the ground and the current height value, including: determining the error value of the camera relative to the reference height value of the camera above the ground and the current height value; when the error value is within a preset range, the calibration continues; otherwise, a warning is issued through the alarm component, and the current height value is corrected based on the error value.

[0043] The preset range can be set according to actual needs, for example, the error value is within ±20mm, without specific limitation.

[0044] It is understood that the embodiments of this application can determine the error value of the camera's reference height value and the current height value relative to the ground; when the error value is within a preset range, calibration continues; otherwise, a warning is issued through the alarm component, and the current height value is corrected based on the error value, thereby improving the accuracy of the camera's height, avoiding deviations, and improving perception performance.

[0045] In this embodiment of the application, the calibration continues, including: identifying the reference pitch angle, reference yaw angle, and reference rotation angle; obtaining the actual pitch angle, actual yaw angle, and actual rotation angle at the current moment; when the deviations of the actual pitch angle, actual yaw angle, and actual rotation angle from the reference pitch angle, reference yaw angle, and reference rotation angle are all lower than the target angle threshold, the calibration is completed; otherwise, a warning is issued through the alarm component, and the actual pitch angle, actual yaw angle, and actual rotation angle are corrected based on the error value.

[0046] The target angle threshold can be ±1.5°, and can be set according to actual needs without specific limitations.

[0047] It is understood that, in the embodiments of this application, calibration is completed when the deviations of the actual pitch angle, actual yaw angle, and actual rotation angle from the reference pitch angle, reference yaw angle, and reference rotation angle are all lower than the target angle threshold; otherwise, a warning is issued through the alarm component, and the actual pitch angle, actual yaw angle, and actual rotation angle are corrected based on the error value, thereby improving the accuracy of the camera angle, avoiding deviations, and improving perception performance.

[0048] In this embodiment, the alarm component includes an optical alarm component and an audible alarm component, used to perform audible and / or optical alarm actions when a calibration error occurs.

[0049] It is understood that the embodiments of this application can execute acoustic and / or optical alarm actions when calibration errors occur, reminding users to correct in time and improve the accuracy of camera height.

[0050] It should be noted that acoustic alarms can be buzzer alarms, and optical alarms can be flashing lights; there are no specific limitations.

[0051] According to the camera calibration method proposed in this application embodiment, the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera above the ground are obtained; the height value of the wheel hub at the current moment is identified; the current height value of the camera is calculated based on the current height value of the wheel hub and the distance from the camera to the upper edge of the wheel hub; and the calibration result of the camera is determined based on the actual height value of the camera above the ground and the current height value. This method can improve the accuracy of the camera height, avoid deviations, and improve perception performance.

[0052] The following will combine Figure 2 The calibration method for the camera in this application is described in detail, and the specific steps are as follows:

[0053] Step 1: Obtain the fixed part of the camera height value through the digital model and write it into the algorithm as a fixed value. This step mainly requires the support of the digital model and needs to obtain the digital model of the related components. In particular, it is important to obtain the digital model under three different states: no load, half load, and full load.

[0054] Step 2: Obtain the height value of the camera when the vehicle is unloaded using a digital model; it is important to ensure accurate measurement in this step.

[0055] Step 3: When the vehicle is calibrated off the production line, the calibration equipment reads and obtains a changing wheel hub height value in real time. This step is mainly completed by the calibration equipment, which can obtain the wheel hub height value in real time. Currently, the equipment that can obtain the real-time wheel hub height value has been mass-produced and has been applied on the production line.

[0056] Step 4: Using the variable value input from the calibration device, perform a calculation to obtain a real-time camera height value; this step requires a calculation within the algorithm.

[0057] Step 5: Calculate the camera height value. First, make a preliminary judgment with the height value obtained in step 2 to see if the calculated value is within ±20mm of the unloaded height value. The second step is the theoretical value of the height. The main purpose of this step is to determine whether the actual value is within a reasonable fluctuation range, and also to improve the accuracy of the calibration. Although the calibration may pass even if it exceeds this range, the accuracy of the calibration will be higher if it is within the range.

[0058] Step 6: If condition 5 is met, continue calibration; if not, issue an alarm indicating calibration risk.

[0059] Step 7: Read the calibration log, which includes the camera height value, pitch angle, yaw angle, and rotation angle. The camera height value must be consistent with the calculated value in step 5; the deviation of the pitch angle, yaw angle, and rotation angle should be within ±1.5°.

[0060] First, the accurate height value of the camera was obtained, ensuring that the correct camera height was used during subsequent calibration and avoiding deviations. Second, based on this accurate camera height, a comparison was made with the theoretical value to ensure the accuracy of subsequent calibration, thereby improving perception performance. The specific description is as follows:

[0061] (1) Obtain real-time and accurate camera height values, unaffected by other uncertain factors of the vehicle (tire pressure, configuration, etc.);

[0062] (2) Ensure that the height of the camera used during calibration is within the required range;

[0063] (3) Obtain more accurate parameter calibration results (pitch angle, yaw angle, rotation angle);

[0064] This method can effectively improve the calibration efficiency of automobiles and save on related equipment costs. Furthermore, in online calibration scenarios, it can significantly improve the accuracy of equipment calibration, thereby enhancing the performance of ADAS to some extent.

[0065] This application is mainly used to improve the accuracy of camera calibration during the offline calibration process. In addition to its application in the ADAS field, it can also be used for any detection, calculation and judgment involving distance, height, length, etc. Besides camera calibration, it can also be extended to other sensor parameter setting methods.

[0066] Next, the calibration device for a camera according to an embodiment of this application is described with reference to the accompanying drawings.

[0067] Figure 3 This is a block diagram of a camera calibration device according to an embodiment of this application.

[0068] like Figure 3 As shown, the calibration device 10 for the camera includes: an acquisition module 100, an identification module 200, and a calculation module 300.

[0069] The acquisition module 100 is used to acquire the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera from the ground; the recognition module 200 is used to recognize the height value of the wheel hub at the current moment; the calculation module 300 is used to calculate the current height value of the camera based on the current height value of the wheel hub and the distance from the camera to the upper edge of the wheel hub, and to determine the calibration result of the camera based on the actual height value of the camera from the ground and the current height value.

[0070] It should be noted that the foregoing explanation of the camera calibration method embodiment also applies to the camera calibration device of this embodiment, and will not be repeated here.

[0071] According to the camera calibration device proposed in the embodiments of this application, the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera from the ground are obtained on the three-dimensional digital model; the height value of the wheel hub at the current moment is identified; the current height value of the camera is calculated based on the current height value of the wheel hub and the distance from the camera to the upper edge of the wheel hub, and the calibration result of the camera is determined based on the actual height value of the camera from the ground and the current height value. This can improve the accuracy of the camera height, avoid deviation, and improve the perception performance.

[0072] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0073] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0074] When the processor 402 executes the program, it implements the camera calibration method provided in the above embodiments.

[0075] Furthermore, electronic devices also include:

[0076] Communication interface 403 is used for communication between memory 401 and processor 402.

[0077] The memory 401 is used to store computer programs that can run on the processor 402.

[0078] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0079] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0080] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0081] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0082] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described camera calibration method.

[0083] This application also provides a computer program product, including a computer program or instructions, which, when executed, is used to implement the camera calibration method as described in the above embodiments.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0087] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0088] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0089] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for calibrating a camera, characterized in that, The method comprises: obtaining a distance from the camera to the upper edge of the wheel hub and a reference height value of the camera from the ground; identifying a height value of the wheel hub at the current time; calculating a current height value of the camera based on the height value of the wheel hub at the current time and the distance from the camera to the upper edge of the wheel hub, and determining a calibration result of the camera according to the reference height value of the camera from the ground and the current height value, wherein the determination of the calibration result of the camera according to the reference height value of the camera from the ground and the current height value comprises: calculating an error value of the reference height value of the camera from the ground and the current height value; when the error value is within a preset range, the calibration is continued, otherwise a warning is issued by an alarm component, and the current height value is corrected based on the error value; wherein the continued calibration comprises: identifying a reference pitch angle, a reference yaw angle and a reference rotation angle; obtaining actual pitch angle, actual yaw angle and actual rotation angle at the current time; when the deviations of the actual pitch angle, the actual yaw angle and the actual rotation angle from the reference pitch angle, the reference yaw angle and the reference rotation angle are all lower than a target angle threshold, the calibration is completed, otherwise a warning is issued by an alarm component, and the actual pitch angle, the actual yaw angle and the actual rotation angle are corrected based on the error value.

2. The camera calibration method of claim 1, wherein, The alarm component comprises an optical alarm component and an acoustic alarm component, and is configured to perform acoustic alarm and / or optical alarm actions when the calibration is incorrect.

3. The camera calibration method of claim 1, wherein, Before the obtaining of the distance from the camera to the upper edge of the wheel hub and the reference height value of the camera from the ground, the method comprises: inputting a parameter value of the camera into a preset model, the preset model calculating a height value of the camera in a current state of the vehicle; determining coordinate information of the corresponding camera based on the height value of the camera in the current state of the vehicle, and determining the reference height value of the corresponding camera from the ground based on the coordinate information.

4. The camera calibration method of claim 3, wherein, The preset model comprises mathematical models in three different states of empty load, half load and full load, and before the inputting of the parameter value of the camera into the preset model, the method comprises: selecting a corresponding mathematical model according to an actual state of the vehicle at the current time.

5. A camera calibration device, comprising: The method comprises: an obtaining module configured to obtain a distance from the camera to the upper edge of the wheel hub and a reference height value of the camera from the ground; an identifying module configured to identify a height value of the wheel hub at the current time; The computing module is configured to calculate a current height value of the camera based on the height value of the hub at the current time and the distance from the camera to the upper edge of the hub, and determine a calibration result of the camera according to a reference height value of the camera from the ground and the current height value. The determination of the calibration result of the camera according to the reference height value of the camera from the ground and the current height value includes: calculating an error value of the reference height value of the camera from the ground and the current height value; when the error value is within a preset range, the calibration is continued, otherwise, a warning is sent through the alarm component, and the current height value is corrected based on the error value; wherein the continued calibration includes: identifying a reference pitch angle, a reference yaw angle and a reference roll angle; obtaining an actual pitch angle, an actual yaw angle and an actual roll angle at the current time; when the deviations of the actual pitch angle, the actual yaw angle and the actual roll angle from the reference pitch angle, the reference yaw angle and the reference roll angle are all lower than a target angle threshold, the calibration is completed, otherwise, a warning is sent through the alarm component, and the actual pitch angle, the actual yaw angle and the actual roll angle are corrected based on the error value.

6. An electronic device, comprising: Comprise: A memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the camera calibration method of any one of claims 1-4.

7. A computer readable storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the camera calibration method of any one of claims 1-4.

8. A computer program product, comprising: Computer programs or instructions characterized in that when executed, implement the camera calibration method of any one of claims 1-4. Computer programs or instructions characterized in that when executed, implement the camera calibration method of any one of claims 1-4.

Images