Camera calibration method and related equipment thereof

Abstract

The invention discloses a camera calibration method and related equipment, and a corresponding camera calibration system comprises a camera which is installed on a tower and is used for rotating and aligning a target in calibration equipment which is not located on the tower based on a received calibration instruction, and outputting a calibration result after alignment. Determining a first position which is detected by a first antenna installed on the camera and represents the camera, and a second position which is detected by a second antenna installed on the calibration equipment and represents the calibration equipment; and the processor is also used for determining a horizontal azimuth angle of the first position relative to the second position, acquiring a current rotation angle of the camera aiming at the target, and establishing a corresponding relation between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle. According to the invention, the acquisition accuracy of the reference level P value is improved.

Description

Technical Field

[0001] The present application relates to the field of communication computer technology, and in particular to a camera calibration method and related equipment. Background Art

[0002] At present, intelligent detection and alarm of outdoor fireworks and the determination of fire location are important parts of achieving accurate fire extinguishing.

[0003] That is, in order to extinguish the fire, the thermal imaging device (camera) needs to be able to accurately locate the fireworks. To accurately locate the fireworks, the camera needs to be able to uniquely locate the area it scans. If unique positioning is required, the camera needs to accurately determine the reference horizontal P value corresponding to the device (which actually reflects the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle) and other parameters. However, in the prior art, the reference horizontal P value is mainly determined by GPS information obtained from Aowei Maps, etc., and the online map Figure 1 The general accuracy is not high, the accuracy scale is at the m level, resulting in low accuracy of the collected benchmark level P value, causing low accuracy in locating fireworks and fires, making it difficult to assist in the precise fire fighting work. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a camera calibration method, device, equipment and storage medium, aiming to solve the technical problem in the related art that the reference level P value is not accurately obtained, resulting in low accuracy of fireworks positioning.

[0005] The embodiment of the present application provides a camera calibration method, which is applied to a camera in a camera calibration system, wherein the camera is installed on a tower, and the method includes:

[0006] Based on the received calibration instruction, the target in the calibration device not located on the tower is rotated and aligned;

[0007] After alignment, determining a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device;

[0008] determining a horizontal azimuth of the first position relative to the second position;

[0009] The current rotation angle of the camera aimed at the target is obtained, and based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0010] In a possible implementation manner of the present application, the first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target;

[0011] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0012] Determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera;

[0013] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0014] In a possible implementation manner of the present application, the first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna;

[0015] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0016] Based on the connection line between the two antennas in the preset substantially parallel state and the connection line between the optical axis and the target, the horizontal azimuth angle corresponding to the optical axis of the camera is represented by the horizontal azimuth angle of the first position relative to the second position;

[0017] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0018] In a possible implementation manner of the present application, the first position is the position of the first antenna itself, and the second position is the position of the second antenna itself;

[0019] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0020] Determining a position of the camera based on the first position and a position of the first antenna relative to the camera;

[0021] determining a position of the target based on the second position and a position of the second antenna relative to the target;

[0022] Based on the position of the camera and the position of the target, obtaining an angle between a line connecting two antennas and a line connecting the optical axis and the target, wherein the line connecting the two antennas is a line connecting the first antenna and the second antenna;

[0023] Converting the horizontal azimuth angle of the first position relative to the second position into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target based on the included angle;

[0024] Based on the converted horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0025] In a possible implementation manner of the present application, the angle between the line connecting the two antennas and the line connecting the optical axis and the target is an angle Φ, and the step of obtaining the angle between the line connecting the two antennas and the line connecting the optical axis and the target includes:

[0026] Determine a distance X between the optical axis of the camera and the first antenna;

[0027] Determine the distance Y between the target and the second antenna, then the angle Φ satisfies:

[0028] tanΦ=((Y*sinθ)-X) / ((L / sinθ)-(Y*cosθ));

[0029] Wherein, L is the distance between the camera and the target, and θ is the pitch angle of the camera.

[0030] In a possible implementation manner of the present application, the step of determining a horizontal azimuth angle of the first position relative to the second position includes:

[0031] determining its own pitch angle, and correcting the first position based on the pitch angle to obtain a corrected first position;

[0032] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0033] In a possible implementation manner of the present application, before the step of determining the horizontal azimuth angle of the first position relative to the second position, the step includes:

[0034] Obtaining a first rotation position of the first antenna without rotating or after rotating to a corresponding target angle, wherein the target angle is sent from a receiving platform to a local device;

[0035] After rotating the target angle once or multiple times, obtaining a second rotation position corresponding to the first antenna;

[0036] Determine a reference position according to the first rotation position and the second rotation position, and correct the first position based on the reference position to obtain a corrected first position;

[0037] The step of determining the horizontal azimuth angle of the first position relative to the second position comprises:

[0038] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0039] In a possible implementation of the present application, if the target angle is rotated twice again,

[0040] The step of determining a reference position according to the first rotation position and the second rotation position comprises:

[0041] After rotating the target angle multiple times, determining the center of a circle formed based on corresponding different rotation positions;

[0042] determining a position of the center of the circle based on the first rotational position and the second rotational position;

[0043] The position of the center of the circle is used as the reference position of the camera.

[0044] In a possible implementation manner of the present application, the target may be located at the center of the imaging screen of the camera, or may not be located at the center of the imaging screen.

[0045] The present application also provides a camera calibration device, which is applied to a camera in a camera calibration system, wherein the camera is mounted on a tower, and the device comprises:

[0046] A rotation module, for rotating and aligning a target in a calibration device that is not located on the tower based on a received calibration instruction;

[0047] A first determination module is used to determine, after alignment, a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device;

[0048] A second determination module, used to determine a horizontal azimuth angle of the first position relative to the second position;

[0049] The acquisition module is used to acquire the current rotation angle of the camera aimed at the target, and then establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle.

[0050] The present application also provides a camera calibration system. In a possible implementation of the present application, the camera calibration system includes:

[0051] A camera is installed on a tower. The camera is used to rotate and align with a target in a calibration device that is not located on the tower based on a received calibration instruction. After alignment, the camera is used to determine a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device; the camera is also used to determine a horizontal azimuth angle of the first position relative to the second position, and is also used to obtain a current rotation angle of the camera aimed at the target. Based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0052] In a possible implementation of the present application, the first position is the position of the first antenna itself and the position of the camera converted from the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target; the camera is also used to determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera; and is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

[0053] In a possible implementation of the present application, the first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset basically parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; the camera is also used to characterize the horizontal azimuth angle corresponding to the optical axis of the camera using the horizontal azimuth angle of the first position relative to the second position based on the preset basically parallel state of the line connecting the two antennas and the line connecting the optical axis and the target; and is also used to establish a corresponding relationship between the horizontal rotation angle and the horizontal azimuth angle of the camera based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

[0054] In a possible implementation of the present application, the first position is the position of the first antenna itself, and the second position is the position of the second antenna itself; the camera is also used to determine the position of the camera based on the first position and the position of the first antenna relative to the camera; it is also used to determine the position of the target based on the second position and the position of the second antenna relative to the target; it is also used to obtain the angle between the line connecting the two antennas and the line connecting the optical axis and the target based on the position of the camera and the position of the target, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; based on the angle, the horizontal azimuth angle of the first position relative to the second position is converted into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target; it is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the converted horizontal azimuth angle and the current rotation angle.

[0055] In a possible implementation manner of the present application, the camera is also used to determine its own pitch angle, based on the pitch angle, correct the first position to obtain a corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

[0056] In a possible implementation of the present application, the camera is also used to obtain a first rotation position of the first antenna without rotating or after rotating a corresponding target angle, wherein the target angle is sent locally by the receiving platform; it is also used to obtain a second rotation position corresponding to the first antenna after rotating the target angle once or more times; it is also used to determine a reference position based on the first rotation position and the second rotation position, correct the first position based on the reference position to obtain the corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

[0057] The present application also provides a calibration device. In a possible implementation of the present application, the calibration device belongs to a camera calibration system, which also includes a camera, wherein the camera is installed on a tower, and the calibration device is not located on the tower, rather than both the camera and the calibration device being located on the tower, and a target and a second antenna are provided on the calibration device, so that after the camera is aimed at the target, a second position of the calibration device characterized by the detection by the second antenna is determined, so that the camera can determine the horizontal azimuth angle of the first position relative to the second position, and establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and its own current rotation angle.

[0058] The present application also provides a camera calibration device, which is a physical node device. The camera calibration device includes: a memory, a processor, and a program of the camera calibration method stored in the memory and executable on the processor. When the program of the camera calibration method is executed by the processor, the steps of the camera calibration method described above can be implemented.

[0059] In order to achieve the above-mentioned purpose, a storage medium is further provided, on which a camera calibration program is stored. When the camera calibration program is executed by a processor, the steps of any of the above-mentioned camera calibration methods are implemented.

[0060] The present application provides a camera calibration method and related equipment. Compared with the related art in which the accuracy of the reference horizontal P value collected is not high, resulting in low accuracy in fireworks positioning, in the present application, the camera is installed on a tower, and the camera is used to rotate and align with a target in a calibration device that is not located on the tower based on the received calibration instruction. After alignment, the first position of the camera detected by a first antenna installed on the camera and the second position of the calibration device detected by a second antenna installed on the calibration device are determined; the method is also used to determine the horizontal azimuth angle of the first position relative to the second position, and to obtain the current rotation angle of the camera aimed at the target. Based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0061] It can be understood that in the present application, in the camera calibration system, the camera is located on the tower, and the calibration device is not located on the tower. Therefore, it is not necessary to install and disassemble it every time. Since the calibration device is not located on the tower, it is not necessary to be limited by the installation space of the iron tower. Since it is not necessary to be limited by the installation space of the iron tower, the accuracy of fireworks positioning can be improved (the distance is not limited, so that small position errors have less impact on the overall positioning). Furthermore, in the present application, based on the received calibration instruction, the target in the calibration device that is not located on the tower is rotated to align. After alignment (at this time, the calibration requirements are met), the first position of the camera detected by the first antenna installed on the camera and the second position of the calibration device detected by the second antenna installed on the calibration device are determined. ， Determine the horizontal azimuth angle of the first position relative to the second position (the distance is not limited, so that a small position error has a smaller impact on the overall positioning, thereby further improving the accuracy of determining the horizontal azimuth angle). Based on this, after obtaining the current rotation angle of the camera aimed at the target, the correspondence between the horizontal rotation angle of the camera and the horizontal azimuth angle can be more accurately established based on the horizontal azimuth angle and the current rotation angle, so as to accurately locate the fireworks. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a flow chart of the first embodiment of the camera calibration method of the present application;

[0063] Figure 2 This is a flow chart of the second embodiment of the camera calibration method of the present application;

[0064] Figure 3 This is a schematic diagram of the process of the third embodiment of the camera calibration method of the present application;

[0065] Figure 4 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application;

[0066] Figure 5This is an overall framework diagram of the camera calibration system involved in this application;

[0067] Figure 6 This is a schematic diagram of the orientation principle involved in this application;

[0068] Figure 7 It is a schematic diagram of a complete embodiment involved in the embodiment scheme of this application;

[0069] Figure 8 A schematic diagram of a scenario involving calculating the center of a corresponding circle by rotating three points involved in this application;

[0070] Fig. 9 This is a schematic diagram of a specific scenario involved in the second embodiment of the present application;

[0071] Fig.10 A schematic diagram of the module interaction between the camera and the calibration device involved in this application;

[0072] Fig.11 A schematic diagram of a scenario for determining relevant angles involved in this application;

[0073] Fig.12 A schematic diagram of a DEM elevation data map involved in the embodiment of the present application;

[0074] Fig.13 A schematic diagram of various parameters used for positioning involved in this application;

[0075] Fig.14 A schematic diagram of finding a unique solution on a DEM map involved in this application;

[0076] Fig.15 This is a schematic diagram of a specific scenario involved in this application. DETAILED DESCRIPTION

[0077] 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.

[0078] The present application embodiment provides a camera calibration method. In one embodiment of the camera calibration method of the present application, referring to Figure 1 , applied to a camera in a camera calibration system, the camera being mounted on a tower, the method comprising:

[0079] Step S10, based on the received calibration instruction, rotating and aligning the target in the calibration device that is not located on the tower;

[0080] In this embodiment, if Figure 5As shown, in the camera calibration system, the camera is located on the tower, and the calibration device is located on the ground at a corresponding distance from the tower, rather than both the camera and the calibration device being located on the tower;

[0081] In this embodiment, it should be noted that the execution subject of the camera calibration method is the camera, such as Figure 5 As shown, the camera is specifically a thermal imaging device 1. Of course, the camera can also be other devices, which are not specifically limited. The camera calibration system also includes a calibration device, which is specifically an auxiliary positioning device 2.

[0082] It should be noted that, in addition to the camera and the calibration device, the camera calibration system may also include a platform end. The platform end is interconnected with the camera and the calibration device through a network. The platform end can uniformly schedule the camera's PT operation / zoom / focus and other actions so that the camera can complete the corresponding (positioning and orientation) calibration work that needs to be completed. The platform end can also obtain the baseline data after camera calibration for subsequent precise positioning of the fire.

[0083] It can be emphasized that, in the camera calibration system, the camera is located on a tower, and the calibration device is located on the ground at a corresponding distance from the tower (not on the ground), rather than both the camera and the calibration device being located on the tower.

[0084] Specifically, Figure 5 as well as Fig.10 As shown, the camera on the tower includes a first single-antenna GNSS module supporting Beidou positioning, a main control module, a first wireless data module, a posture sensing module (for obtaining the pitch angle of the device), etc., and the calibration device 2 includes a supporting tripod, a (cross) target, a second single-antenna GNSS module, an auxiliary control module, etc. It can be understood that the target can be the second antenna or be set on the second antenna, or the target can be set at a position other than the second antenna.

[0085] It can be understood that since the camera is located on the tower and the calibration device is located on the ground at a corresponding distance from the tower, instead of both the camera and the calibration device being located on the tower, after receiving the calibration instruction, there is no need for temporary installation and disassembly, and it is only necessary to determine the calibration device. Moreover, since the calibration device is located on the ground at a corresponding distance from the tower, it is not necessary to be limited by the installation space of the tower. Therefore, the positioning accuracy can be improved (the distance is not limited, so that small position errors have less impact on the overall positioning).

[0086] It is understandable that there is currently a method of using laser ranging to assist in locating fireworks. However, the laser ranging method requires the equipment to observe at a long distance, 3KM, 5KM, or even farther, and there are problems such as high laser power consumption and large size, which seriously restricts the application scenarios.

[0087] In addition, in this embodiment, the information provided by the tower is not directly used (the data source may be inaccurate), and the online map is not used to calculate the corresponding positioning parameters. This is because: the online map Figure 1 The general accuracy is not high, and the accuracy scale is at the m level, which is difficult to meet the current positioning accuracy requirements.

[0088] It can be understood that, in this embodiment, the calibration instruction may also include specific positioning parameters that need to be calibrated, wherein the specific positioning parameters may be one or more items.

[0089] For example, the specific positioning parameter may be a horizontal reference P value, and / or a pitch angle T value, and / or the GPS coordinates of the device.

[0090] In this embodiment, the basic concepts are first described:

[0091] The horizontal reference P value (which actually reflects the corresponding relationship between the horizontal rotation angle and the horizontal azimuth angle) generally changes continuously from 0 to 360 degrees.

[0092] The pitch angle T value generally refers to the range of up and down angle changes;

[0093] Tilt sensor: can detect changes in pitch angle;

[0094] In this embodiment, the received calibration instruction may specifically refer to a calibration instruction of a reference level P value.

[0095] It is understandable that after receiving the calibration instruction, the camera rotates and aims at the target in the calibration device that is not located on the tower (cross target, such as Figure 5 shown).

[0096] Step S20, after alignment, determining a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device;

[0097] It can be understood that the target is in the imaging picture of the camera (the target may be in the center of the imaging picture, or may not be in the center of the imaging picture), and it is determined that the camera has been aimed at the target, and at this time, it is determined that the calibration requirements are met. At this time, the first position of the camera detected by the first antenna installed on the camera is determined, and the second position of the calibration device detected by the second antenna installed on the calibration device is determined.

[0098] It can be understood that the first position of the camera can be:

[0099] First: the location of the first antenna itself;

[0100] Second: the position of the first antenna itself + the position of the first antenna relative to the target converted to the target position;

[0101] It can be understood that the first position representing the calibration device can be:

[0102] First: the position of the second antenna itself;

[0103] Second: The position of the target converted from the position of the second antenna itself + the position of the second antenna relative to the target.

[0104] It can be understood that in the present application, the first position can be a corrected GPS position, and the second position can also be a corrected GPS position, instead of directly using a low-precision GPS position (precision scale is at the m level) to obtain the corresponding benchmark horizontal P value. Therefore, the present application improves the calibration accuracy of the horizontal P value.

[0105] Step S20, determining the horizontal azimuth angle of the first position relative to the second position;

[0106] It can be understood that in this embodiment, the horizontal azimuth of the first position relative to the second position is determined through the first position (corresponding GPS coordinates) and the second position (corresponding GPS coordinates).

[0107] Step S30, obtaining the current rotation angle of the camera aimed at the target, and then establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle.

[0108] It can be understood that in this embodiment, the current rotation angle of the camera aimed at the target is first obtained, and then based on the current rotation angle, the horizontal rotation angle of the camera can be obtained, and then based on the horizontal azimuth angle and the current rotation angle, the correspondence between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0109] It can be understood that establishing the correspondence between the horizontal rotation angle of the camera and the horizontal azimuth angle includes at least three situations.

[0110] First case:

[0111] The first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target;

[0112] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0113] Determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera;

[0114] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0115] In this embodiment, it can be understood that the first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera (preset or known). Similarly, the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target (preset or known).

[0116] Therefore, in this embodiment, the horizontal azimuth angle of the first position relative to the second position can be determined as the horizontal azimuth angle corresponding to the camera optical axis (the horizontal azimuth angle of the line connecting the two positions is the horizontal azimuth angle corresponding to the current camera optical axis). Furthermore, based on the horizontal azimuth angle corresponding to the camera optical axis (known) and the current rotation angle (detected), the corresponding relationship between the camera horizontal rotation angle and the horizontal azimuth angle can be established.

[0117] It should be noted that it has been determined through practice that when the connection line between the two antennas and the connection line between the optical axis of the camera and the target are in a preset substantially parallel state, the calibration error is small.

[0118] Specifically, Fig.15 As shown, the range of the corresponding measured angle is -180° to 180°. B1 represents the first horizontal azimuth angle, B2 represents the second horizontal azimuth angle, A1 represents the first horizontal rotation angle, and A2 represents the second horizontal rotation angle. If it is predetermined that when the gimbal is adjusted clockwise, the corresponding measured angle increases, then the second horizontal rotation angle A2=A1+(B2-B1) can be determined; if it is predetermined that when the gimbal is adjusted counterclockwise, the measured inclination angle decreases, then the second horizontal rotation angle A2=A1-(B2-B1) can be determined.

[0119] In this embodiment, based on the correspondence between the horizontal rotation angle of the camera and the horizontal azimuth angle, the location of fireworks and fire can be performed.

[0120] Specifically, the location of fireworks and fire mainly involves five parameter elements: 1. The height of the camera installation location (which can be based on the Bohai Sea level as the reference zero point); 2. The geographical GPS coordinate information of the camera installation location; 3. The reference level P value; 4. The camera equipment T value pitch angle; 5. The DEM elevation data map (such as Fig.12As shown,) is similar to the three-dimensional map below;

[0121] like Fig.13 ,as well as Fig.14 As shown in the figure, in the DEM digital elevation map, the GPS coordinates of the device are a coordinate point in the DEM. In the entire DEM three-dimensional digital elevation map, after the device moves the specified PT (horizontal P value + T value pitch angle) angle relative to the reference direction, it will perform mapping scans in both PT directions on the DEM map. When the device's fireworks algorithm detects a fire, based on the four parameters of P value, T value, GPS coordinates of the device, and altitude of the device, it will find a unique solution on the DEM map, which is the location of the fire. The GPS coordinates of the fire are reported to the platform and pushed to the user, and the client / or APP realizes accurate reporting of the fire location, which is used by forest rangers and firefighting teams to extinguish open fires in a timely manner.

[0122] It can be understood that the second case of establishing the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is as follows:

[0123] The first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna;

[0124] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0125] Based on the connection line between the two antennas in the preset substantially parallel state and the connection line between the optical axis and the target, the horizontal azimuth angle corresponding to the optical axis of the camera is represented by the horizontal azimuth angle of the first position relative to the second position;

[0126] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0127] It can be understood that the first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset basically parallel state. The preset basically parallel state can be that the angle between the corresponding lines is less than 5°.

[0128] It is understandable that Fig.11 As shown, the first position is GPS1, the second position is GPS2, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state. Since the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state, the horizontal azimuth angle of the first position relative to the second position can be used to represent the horizontal azimuth angle corresponding to the optical axis of the camera ( Fig.11 ).

[0129] At this time, based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle can be established.

[0130] It can be understood that the third case of establishing the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is as follows:

[0131] The first position is the position of the first antenna itself, and the second position is the position of the second antenna itself;

[0132] The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises:

[0133] Determining a position of the camera based on the first position and a position of the first antenna relative to the camera;

[0134] determining a position of the target based on the second position and a position of the second antenna relative to the target;

[0135] Based on the position of the camera and the position of the target, obtaining an angle between a line connecting two antennas and a line connecting the optical axis and the target, wherein the line connecting the two antennas is a line connecting the first antenna and the second antenna;

[0136] Converting the horizontal azimuth angle of the first position relative to the second position into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target based on the included angle;

[0137] Based on the converted horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0138] It can be understood that after determining the position of the target and the position of the camera based on the first position and the second position, it may be determined that the line connecting the two antennas and the line connecting the camera and the target are not necessarily parallel. In this case, the camera position, the target position, the first position and the second position are determined, and the angle between the line connecting the two antennas and the line connecting the optical axis and the target is obtained. Then, based on the angle, the horizontal azimuth angle of the first position relative to the second position is converted into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target. Then, based on the converted horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0139] That is, in this embodiment, since the angle between the connection line of the two antennas and the connection line of the camera optical axis and the target is clear, the horizontal azimuth angle of the first position relative to the second position is also clear, and then the horizontal azimuth angle of the connection line of the camera optical axis and the target is determined. Then, the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0140] Before the step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle, the method further comprises:

[0141] Adjusting the position of the corresponding target, the first position or the second position so that the connection line between the two antennas and the connection line between the optical axis of the camera and the target are in a preset substantially parallel state;

[0142] Specifically, in order to minimize the calibration error (obtained through practice and calculation), the line connecting the two antennas and the line connecting the optical axis of the camera and the target need to be in a preset basically parallel state. Therefore, before determining the azimuth, it is necessary to adjust the position of the target, the first position or the second position so that the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset basically parallel state.

[0143] Wherein, the step of determining the horizontal azimuth angle of the first position relative to the second position includes:

[0144] determining its own pitch angle, and correcting the first position based on the pitch angle to obtain a corrected first position;

[0145] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0146] In this embodiment, the pitch angle of the camera is obtained by means of a posture perception module or an inclination sensor newly added to the camera, and then the first position of the first antenna corresponding to the camera is corrected to obtain the corrected first position of the first antenna corresponding to the camera. This can avoid the deviation of the GPS information on the device side caused by the pitch of the device, and can obtain the point position more accurately than the traditional method.

[0147] It can be understood that in the present application, in the camera calibration system, the camera is located on the tower, and the calibration device is not located on the tower. Therefore, it is not necessary to install and disassemble it every time. Since the calibration device is not located on the tower, it is not necessary to be limited by the installation space of the iron tower. Since it is not necessary to be limited by the installation space of the iron tower, the accuracy of fireworks positioning can be improved (the distance is not limited, so that small position errors have less impact on the overall positioning). Furthermore, in the present application, based on the received calibration instruction, the target in the calibration device that is not located on the tower is rotated to align. After alignment (at this time, the calibration requirements are met), the first position of the camera detected by the first antenna installed on the camera and the second position of the calibration device detected by the second antenna installed on the calibration device are determined. ，Determine the horizontal azimuth angle of the first position relative to the second position (the distance is not limited, so that a small position error has a smaller impact on the overall positioning, thereby further improving the accuracy of determining the horizontal azimuth angle). Based on this, after obtaining the current rotation angle of the camera aimed at the target, the correspondence between the horizontal rotation angle of the camera and the horizontal azimuth angle can be more accurately established based on the horizontal azimuth angle and the current rotation angle, so as to accurately locate the fireworks.

[0148] Further, refer to Figure 2 Based on the first embodiment of the present application, another embodiment of the present application is provided. In this embodiment, before the step of determining the horizontal azimuth angle of the first position relative to the second position, the step includes:

[0149] Step S01, obtaining a first rotation position of the first antenna without rotation or after rotation to a corresponding target angle, wherein the target angle is sent to the local by a receiving platform end;

[0150] In this embodiment, the first rotation position may be obtained without rotation, or may be obtained with rotation, and the specific details are not limited thereto.

[0151] It is understandable that Fig. 9 As shown, the target angle is sent from the receiving platform to the camera, wherein the target angle may be 60°, or 120°, etc., that is, in this embodiment, the rotation angle is not limited.

[0152] If the target angle is 60°, the camera rotates 60° and obtains the local corresponding first rotation position, namely GPS1.

[0153] Step S02, after rotating the target angle once or multiple times, obtaining a second rotation position corresponding to the first antenna;

[0154] After rotating the target angle once or more (twice), the corresponding second rotation position is obtained. The second rotation position may include GPS2, GPS3, etc. (rotating any angle within the circular rotation range twice or more can obtain the center of the circle in this way).

[0155] That is, the GPS position is obtained once without rotation, and then rotated twice, so that the GPS positions of three positions are obtained for subsequent calculation (obtaining the GPS position of the center of the circle).

[0156] Step S03, determining a reference position according to the first rotation position and the second rotation position, and correcting the first position based on the reference position to obtain a corrected first position;

[0157] In this embodiment, a reference position is first determined, and then the GPS position (first position) of the camera corresponding to the first antenna is corrected based on the reference position to obtain the corrected first position of the camera corresponding to the first antenna.

[0158] It can be understood that in this embodiment, the first position can be obtained more accurately than the traditional method. That is, in order to reduce the deviation caused by directly obtaining the positioning of the first single-antenna GNSS module integrated on the camera end (the antenna is not the geometric center of the camera), the integrated first single-antenna GNSS module is rotated one circle (circular rotation is sufficient, and one circle is taken as an example for specific explanation), and the GPS coordinate information of the camera (that is, GPS1, GPS2, and GPS3) is obtained three times every 120 degrees (120 degrees is an example, and it may not be 120 degrees in reality), and the center of the corresponding circle is calculated through the three rotating points as the reference GPS information of the camera, such as Figure 8 shown.

[0159] If the target angle is rotated twice again,

[0160] The step of determining the local reference position according to the first rotation position and the second rotation position comprises:

[0161] After rotating the target angle multiple times, determine the center of the circle formed based on the corresponding different GPS positions;

[0162] determining a GPS position of the center of the circle based on the first rotational position and the second rotational position;

[0163] The GPS position of the center of the circle is used as the reference position of the camera.

[0164] It is understandable that in order to reduce the deviation caused by directly obtaining positioning information, such as Fig. 9 As shown, the camera is rotated one circle, 120 degrees each time for a total of three times, to obtain the GPS coordinate information of the camera (i.e., GPS1, GPS2, GPS3), and the center of the corresponding circle is calculated through the three rotating points as the reference GPS information of the camera end.

[0165] The step of determining the horizontal azimuth angle of the first position relative to the second position comprises:

[0166] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0167] In this embodiment, the horizontal azimuth angle of the corrected first position relative to the second position is determined to improve the accuracy of determining the horizontal azimuth angle.

[0168] In this embodiment, it can be understood that this embodiment can correct the deviation caused by directly acquiring the camera positioning information (because the antenna is not at the geometric center of the device, which will cause deviation).

[0169] Further, refer to Figure 3 Based on the first embodiment of the present application, another embodiment of the present application is provided. In this embodiment, the angle relationship includes an angle Φ, and the step of determining the angle relationship between the two antenna lines and the imaging channel of the target includes:

[0170] Step C1, determining a distance X between the optical axis of the camera and the first antenna;

[0171] Step C2, determining the distance Y between the target and the second antenna, then the angle Φ satisfies:

[0172] tanΦ=((Y*sinθ)-X) / ((L / sinθ)-(Y*cosθ));

[0173] Wherein, L is the distance between the camera and the target, and θ is the pitch angle of the camera;

[0174] Wherein, L is the distance between the camera and the target, and θ is the pitch angle of the camera.

[0175] In this embodiment, if Figure 6 As shown, θ is the pitch angle of the camera (which can be obtained through the attitude perception module). At this time, the comprehensive deviation of the distance between the visible light axis of the camera and the corresponding antenna (first position) is set at X (the physical scale is in centimeters), and the comprehensive deviation of the distance between the second position of the corresponding antenna of the calibration device and the corresponding target is set at Y (the physical scale is in centimeters). It is assumed that the angle is Φ at this time.

[0176] Then the angle Φ satisfies:

[0177]

[0178] The conversion angle is:

[0179]

[0180] If Φ is less than the preset angle, it is determined that the connection line of the two antennas and the imaging channel of the target are in a preset substantially parallel state. At this time, the error is relatively small, because: the positioning deviation value L satisfies L = (Φ / 180)*Π*S;

[0181] In this embodiment, L is inevitable, but when the deviation value L is too large, such as greater than a preset deviation value, the installation parameters of the corresponding equipment can be adjusted without specific limitation.

[0182] It can be understood that in this embodiment, it is possible to accurately determine whether the angle Φ between the connection line between the two antennas and the connection line between the target and the camera meets the requirements, thereby providing a basis for subsequent accurate positioning.

[0183] It can be understood that in this embodiment, an overall embodiment is also provided. In this embodiment, Figure 7 As shown, the calibration device carries a target, and the platform controls the camera to observe the target under the visible light channel and magnification. The calibration device also reports GPS information, and the camera (device on the tower) obtains positioning data + inclination data by three-point calibration. After correcting the GPS deviation caused by the tilt of the equipment, the azimuth is calculated synchronously using the reference GPS information on and below the tower, and then the relationship between the optical axis and the azimuth is established (physical parallelism), and finally the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth is established (the horizontal azimuth of the first position relative to the second position is calculated synchronously using the reference GPS information on and below the tower, and then the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth is established based on the horizontal azimuth and the current rotation angle, and finally the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth is established to achieve subsequent precise positioning).

[0184] Reference Figure 4 , Figure 4 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0185] like Figure 4 As shown, the camera calibration device may include: a processor 1001 , a memory 1005 , and a communication bus 1002 . The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1005 .

[0186] Optionally, the camera calibration device may also include a user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, a WiFi module, etc. The user interface may include a display screen (Display), an input submodule such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. The network interface may include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0187] Those skilled in the art will understand that Figure 4 The camera calibration device structure shown in the figure does not constitute a limitation on the camera calibration device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0188] like Figure 4As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, and a camera calibration program. The operating system is a program that manages and controls the hardware and software resources of the camera calibration device, and supports the operation of the camera calibration program and other software and / or programs. The network communication module is used to realize the communication between the cameras inside the memory 1005, and the communication with other hardware and software in the device.

[0189] exist Figure 4 In the camera calibration device shown, the processor 1001 is used to execute the camera calibration program stored in the memory 1005 to implement the steps of any of the above-mentioned camera calibration methods.

[0190] The specific implementation of the camera calibration device of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0191] The present application also provides a camera calibration device, which is applied to a camera in a camera calibration system, wherein the camera is mounted on a tower, and the device comprises:

[0192] A rotation module, for rotating and aligning a target in a calibration device that is not located on the tower based on a received calibration instruction;

[0193] A first determination module is used to determine, after alignment, a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device;

[0194] A second determination module, used to determine a horizontal azimuth angle of the first position relative to the second position;

[0195] The acquisition module is used to acquire the current rotation angle of the camera aimed at the target, and then establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle.

[0196] In a possible implementation manner of the present application, the device is used to implement:

[0197] In a possible implementation manner of the present application, the first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target;

[0198] The device is used to achieve:

[0199] Determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera;

[0200] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0201] In a possible implementation manner of the present application, the first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna;

[0202] The device is used to achieve:

[0203] Based on the connection line between the two antennas in the preset substantially parallel state and the connection line between the optical axis and the target, the horizontal azimuth angle corresponding to the optical axis of the camera is represented by the horizontal azimuth angle of the first position relative to the second position;

[0204] Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0205] In a possible implementation manner of the present application, the first position is the position of the first antenna itself, and the second position is the position of the second antenna itself;

[0206] The device is used to achieve:

[0207] Determining a position of the camera based on the first position and a position of the first antenna relative to the camera;

[0208] determining a position of the target based on the second position and a position of the second antenna relative to the target;

[0209] Based on the position of the camera and the position of the target, obtaining an angle between a line connecting two antennas and a line connecting the optical axis and the target, wherein the line connecting the two antennas is a line connecting the first antenna and the second antenna;

[0210] Converting the horizontal azimuth angle of the first position relative to the second position into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target based on the included angle;

[0211] Based on the converted horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0212] In a possible implementation manner of the present application, the device is used to implement:

[0213] Determine a distance X between the optical axis of the camera and the first antenna;

[0214] Determine the distance Y between the target and the second antenna, then the angle Φ satisfies:

[0215] tanΦ=((Y*sinθ)-X) / ((L / sinθ)-(Y*cosθ));

[0216] Wherein, L is the distance between the camera and the target, and θ is the pitch angle of the camera.

[0217] In a possible implementation manner of the present application, the device is used to implement:

[0218] determining its own pitch angle, and correcting the first position based on the pitch angle to obtain a corrected first position;

[0219] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0220] In a possible implementation manner of the present application, the device is used to implement:

[0221] Obtaining a first rotation position of the first antenna without rotating or after rotating to a corresponding target angle, wherein the target angle is sent from a receiving platform to a local device;

[0222] After rotating the target angle once or multiple times, obtaining a second rotation position corresponding to the first antenna;

[0223] Determine a reference position according to the first rotation position and the second rotation position, and correct the first position based on the reference position to obtain a corrected first position;

[0224] The device is used to achieve:

[0225] The horizontal azimuth of the corrected first position relative to the second position is determined.

[0226] In a possible implementation of the present application, if the target angle is rotated twice again,

[0227] The device is used to achieve:

[0228] After rotating the target angle multiple times, determining the center of a circle formed based on corresponding different rotation positions;

[0229] determining a position of the center of the circle based on the first rotational position and the second rotational position;

[0230] The position of the center of the circle is used as the reference position of the camera.

[0231] In a possible implementation manner of the present application, the target may be located at the center of the imaging screen of the camera, or may not be located at the center of the imaging screen.

[0232] The specific implementation of the camera calibration device of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0233] An embodiment of the present application provides a storage medium, and the storage medium stores one or more programs, and the one or more programs can also be executed by one or more processors to implement the steps of any of the above-mentioned camera calibration methods.

[0234] The specific implementation of the storage medium of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0235] The embodiment of the present application provides a camera calibration system, the camera calibration system comprising:

[0236] In a possible implementation manner of the present application, the camera calibration system includes:

[0237] A camera is installed on a tower. The camera is used to rotate and align with a target in a calibration device that is not located on the tower based on a received calibration instruction. After alignment, the camera is used to determine a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device; the camera is also used to determine a horizontal azimuth angle of the first position relative to the second position, and is also used to obtain a current rotation angle of the camera aimed at the target. Based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

[0238] In a possible implementation of the present application, the first position is the position of the first antenna itself and the position of the camera converted from the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target; the camera is also used to determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera; and is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

[0239] In a possible implementation of the present application, the first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset basically parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; the camera is also used to characterize the horizontal azimuth angle corresponding to the optical axis of the camera using the horizontal azimuth angle of the first position relative to the second position based on the preset basically parallel state of the line connecting the two antennas and the line connecting the optical axis and the target; and is also used to establish a corresponding relationship between the horizontal rotation angle and the horizontal azimuth angle of the camera based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

[0240] In a possible implementation of the present application, the first position is the position of the first antenna itself, and the second position is the position of the second antenna itself; the camera is also used to determine the position of the camera based on the first position and the position of the first antenna relative to the camera; it is also used to determine the position of the target based on the second position and the position of the second antenna relative to the target; it is also used to obtain the angle between the line connecting the two antennas and the line connecting the optical axis and the target based on the position of the camera and the position of the target, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; based on the angle, the horizontal azimuth angle of the first position relative to the second position is converted into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target; it is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the converted horizontal azimuth angle and the current rotation angle.

[0241] In a possible implementation manner of the present application, the camera is also used to determine its own pitch angle, based on the pitch angle, correct the first position to obtain a corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

[0242] In a possible implementation of the present application, the camera is also used to obtain a first rotation position of the first antenna without rotating or after rotating a corresponding target angle, wherein the target angle is sent locally by the receiving platform; it is also used to obtain a second rotation position corresponding to the first antenna after rotating the target angle once or more times; it is also used to determine a reference position based on the first rotation position and the second rotation position, correct the first position based on the reference position to obtain the corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

[0243] The specific implementation of the camera calibration system of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0244] The present application also provides a calibration device. In a possible implementation of the present application, the calibration device belongs to a camera calibration system, which also includes a camera, wherein the camera is installed on a tower, and the calibration device is not located on the tower, rather than both the camera and the calibration device being located on the tower, and a target and a second antenna are provided on the calibration device, so that after the camera is aimed at the target, a second position of the calibration device characterized by the detection by the second antenna is determined, so that the camera can determine the horizontal azimuth angle of the first position relative to the second position, and establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and its own current rotation angle.

[0245] The specific implementation of the calibration device of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0246] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned camera calibration method when executed by a processor.

[0247] The specific implementation of the computer program product of the present application is basically the same as the embodiments of the above-mentioned camera calibration method, and will not be repeated here.

[0248] 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 device 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 device. 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 device including the element.

[0249] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0250] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus hardware platform, or by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM) and includes several instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0251] The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present invention.

Claims

1. A camera calibration system, characterized in that: The camera calibration system comprises: A camera is installed on a tower. The camera is used to rotate and align with a target in a calibration device that is not located on the tower based on a received calibration instruction. After alignment, the camera is used to determine a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device; the camera is also used to determine a horizontal azimuth angle of the first position relative to the second position, and is also used to obtain a current rotation angle of the camera aimed at the target. Based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

2. The camera calibration system according to claim 1, characterized in that: The first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target; the camera is also used to determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera; and is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

3. The camera calibration system according to claim 1, characterized in that: The first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset basically parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; the camera is also used to characterize the horizontal azimuth angle corresponding to the optical axis of the camera using the horizontal azimuth angle of the first position relative to the second position based on the preset basically parallel state of the line connecting the two antennas and the line connecting the optical axis and the target; and is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle.

4. The camera calibration system according to claim 1, characterized in that: The first position is the position of the first antenna itself, and the second position is the position of the second antenna itself; the camera is also used to determine the position of the camera based on the first position and the position of the first antenna relative to the camera; it is also used to determine the position of the target based on the second position and the position of the second antenna relative to the target; it is also used to obtain the angle between the line connecting the two antennas and the line connecting the optical axis and the target based on the position of the camera and the position of the target, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; based on the angle, the horizontal azimuth angle of the first position relative to the second position is converted into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target; it is also used to establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the converted horizontal azimuth angle and the current rotation angle.

5. The camera calibration system according to claim 1, characterized in that: The camera is also used to determine its own pitch angle, and based on the pitch angle, correct the first position to obtain a corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

6. The camera calibration system according to claim 1, characterized in that: The camera is also used to obtain the first rotation position of the first antenna without rotating or after rotating to a corresponding target angle, wherein the target angle is sent locally by the receiving platform; it is also used to obtain the second rotation position corresponding to the first antenna after rotating the target angle once or more times; it is also used to determine a reference position based on the first rotation position and the second rotation position, correct the first position based on the reference position to obtain the corrected first position, and determine the horizontal azimuth angle of the corrected first position relative to the second position.

7. A calibration device, characterized in that: The calibration device belongs to a camera calibration system, and the camera calibration system also includes a camera, wherein: The camera is installed on the tower, and the calibration device is not located on the tower, but both the camera and the calibration device are located on the tower. A target and a second antenna are set on the calibration device to determine the second position of the calibration device based on the detection of the second antenna after the camera is aimed at the target, so that the camera can determine the horizontal azimuth angle of the first position relative to the second position, and establish the corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and its own current rotation angle.

8. A camera calibration method, characterized in that: A camera used in a camera calibration system, wherein the camera is mounted on a tower, and the method comprises: Based on the received calibration instruction, the target in the calibration device not located on the tower is rotated and aligned; After alignment, determining a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device; determining a horizontal azimuth of the first position relative to the second position; The current rotation angle of the camera aimed at the target is obtained, and based on the horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

9. The camera calibration system according to claim 8, characterized in that: The first position is the position of the camera converted from the position of the first antenna itself and the position of the first antenna relative to the camera, and the second position is the position of the target converted from the position of the second antenna itself and the position of the antenna relative to the target; The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises: Determine the horizontal azimuth angle of the first position relative to the second position as the horizontal azimuth angle corresponding to the optical axis of the camera; Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

10. The camera calibration system according to claim 8, characterized in that: The first position is the position of the first antenna itself, the second position is the position of the second antenna itself, and the line connecting the two antennas and the line connecting the optical axis of the camera and the target are in a preset substantially parallel state, wherein the line connecting the two antennas is the line connecting the first antenna and the second antenna; The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises: Based on the connection line between the two antennas in the preset substantially parallel state and the connection line between the optical axis and the target, the horizontal azimuth angle corresponding to the optical axis of the camera is represented by the horizontal azimuth angle of the first position relative to the second position; Based on the horizontal azimuth angle corresponding to the optical axis of the camera and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

11. The camera calibration system according to claim 8, characterized in that: The first position is the position of the first antenna itself, and the second position is the position of the second antenna itself; The step of establishing a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle comprises: Determining a position of the camera based on the first position and a position of the first antenna relative to the camera; determining a position of the target based on the second position and a position of the second antenna relative to the target; Based on the position of the camera and the position of the target, obtaining an angle between a line connecting two antennas and a line connecting the optical axis and the target, wherein the line connecting the two antennas is a line connecting the first antenna and the second antenna; Converting the horizontal azimuth angle of the first position relative to the second position into the horizontal azimuth angle of the line connecting the optical axis of the camera and the target based on the included angle; Based on the converted horizontal azimuth angle and the current rotation angle, a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle is established.

12. The camera calibration method according to claim 11, characterized in that: The angle between the line connecting the two antennas and the line connecting the optical axis and the target is an angle Φ, and the step of obtaining the angle between the line connecting the two antennas and the line connecting the optical axis and the target includes: Determine a distance X between the optical axis of the camera and the first antenna; Determine the distance Y between the target and the second antenna, then the angle Φ satisfies: tanΦ=((Y*sinθ)-X) / ((L / sinθ)-(Y*cosθ)); Wherein, L is the distance between the camera and the target, and θ is the pitch angle of the camera.

13. The camera calibration method according to claim 8, characterized in that: The step of determining the horizontal azimuth angle of the first position relative to the second position comprises: determining its own pitch angle, and correcting the first position based on the pitch angle to obtain a corrected first position; The horizontal azimuth of the corrected first position relative to the second position is determined.

14. The camera calibration method according to claim 8, characterized in that: Before the step of determining the horizontal azimuth angle of the first position relative to the second position, the method includes: Obtaining a first rotation position of the first antenna without rotating or after rotating to a corresponding target angle, wherein the target angle is sent from a receiving platform to a local device; After rotating the target angle once or multiple times, obtaining a second rotation position corresponding to the first antenna; Determine a reference position according to the first rotation position and the second rotation position, and correct the first position based on the reference position to obtain a corrected first position; The step of determining the horizontal azimuth angle of the first position relative to the second position comprises: The horizontal azimuth of the corrected first position relative to the second position is determined.

15. The camera calibration method according to claim 14, characterized in that: If the target angle is rotated twice again, The step of determining a reference position according to the first rotation position and the second rotation position comprises: After rotating the target angle multiple times, determining the center of a circle formed based on corresponding different rotation positions; determining a position of the center of the circle based on the first rotational position and the second rotational position; The position of the center of the circle is used as the reference position of the camera.

16. The camera calibration method according to claim 8, characterized in that: The target may be at the center of the imaging frame of the camera, or may not be at the center of the imaging frame.

17. A camera calibration device, characterized in that: A camera used in a camera calibration system, wherein the camera is mounted on a tower, and the device comprises: A rotation module, for rotating and aligning a target in a calibration device that is not located on the tower based on a received calibration instruction; A first determination module, used to determine, after alignment, a first position of the camera detected by a first antenna installed on the camera and a second position of the calibration device detected by a second antenna installed on the calibration device; A second determination module, used to determine a horizontal azimuth angle of the first position relative to the second position; The acquisition module is used to acquire the current rotation angle of the camera aimed at the target, and then establish a corresponding relationship between the horizontal rotation angle of the camera and the horizontal azimuth angle based on the horizontal azimuth angle and the current rotation angle.

18. A camera calibration device, characterized in that: The method comprises a memory, a processor and a camera calibration program stored in the memory and executable on the processor, wherein the processor implements the steps of the camera calibration method described in any one of claims 8 to 16 when executing the camera calibration program.

19. A storage medium, characterized in that: The storage medium stores a camera calibration program, and when the camera calibration program is executed by the processor, the steps of the camera calibration method according to any one of claims 8 to 16 are implemented.

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