Space calibration method and apparatus

Abstract

This disclosure relates to a spatial calibration method and apparatus. In response to a marker graphic generation instruction from an electronic device, a marker graphic is generated based on basic information of the screen used for virtual shooting, and the screen is controlled to display the marker graphic. Images of the marker graphic are captured by a camera to obtain captured images, and tracking information for tracking the camera's pose is acquired. The number of cameras can be one or more. If the number of calibration images determined in the captured images corresponding to any one of the one or more cameras reaches a preset number, spatial calibration is performed based on the calibration images of that camera, the pose information corresponding to each calibration image, and the screen model of the screen, generating the spatial calibration result for that camera. This allows for parallel execution of spatial calibration for cameras used in virtual shooting, improving the speed and efficiency of spatial calibration and facilitating user operation.

Description

Technical Field

[0001] This disclosure relates to the field of virtual photography technology, and in particular to a spatial calibration method and apparatus. Background Technology

[0002] Virtual filming is a filming method that utilizes computer-generated images and real-time rendering technology. During virtual filming, at least one camera is used simultaneously. To ensure the accuracy of the footage, staff need to perform spatial calibration on all cameras on-site before the actual filming. However, spatial calibration is time-consuming, inefficient, and inconvenient. Summary of the Invention

[0003] In view of this, this disclosure proposes a space calibration method and apparatus.

[0004] According to one aspect of this disclosure, a space calibration method is provided, the method comprising:

[0005] In response to a logo graphic generation instruction from an electronic device, a logo graphic is generated based on the basic information of the screen used for virtual shooting, and the screen is controlled to display the logo graphic.

[0006] The camera captures images of the marked graphic to obtain captured images, and tracks the pose of the camera to obtain tracking information. The number of cameras may be one or more.

[0007] If the number of calibration images determined in the acquired images corresponding to any one of the one or more cameras reaches a preset number, then spatial calibration is performed based on the calibration images of the camera, the pose information corresponding to each calibration image, and the screen model of the screen to generate the spatial calibration result of the camera.

[0008] The pose information corresponding to each calibration image is determined based on the tracking information, and the spatial calibration result is used to indicate the relative positional relationship between the corresponding camera and the screen.

[0009] In one possible implementation, the method further includes:

[0010] Based on the footage captured by the camera and the tracking information, the position and / or orientation of the camera for capturing the marked graphic are adjusted.

[0011] In one possible implementation, based on the footage captured by the camera and the tracking information, instructing adjustments to the position and / or orientation of the camera capturing the marker pattern, including:

[0012] Based on the footage captured by the cameras and the tracking information, the field of view coverage and screen coverage of each camera, as well as the movable range of each camera in the tracking area corresponding to the current screen, are determined.

[0013] Based on the field of view coverage, screen coverage, and movable range of each camera, the position and / or orientation of each camera for capturing the marked graphic are adjusted.

[0014] In one possible implementation, the method further includes:

[0015] Content recognition is performed on the acquired images. If the identification graphic included in the acquired images meets the requirements of a calibration image, the acquired image is determined as a calibration image, and the number of calibration images for each camera is counted.

[0016] Based on the tracking information of the camera corresponding to the calibration image, the pose information corresponding to the calibration image is determined.

[0017] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0018] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is only acquired in the scene captured when the camera is stationary, then the acquired image is determined as the calibration image. The tracking information of the camera corresponding to the calibration image includes stable tracking information obtained when the camera is stationary.

[0019] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0020] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is captured in both static and non-static scenes, then the acquired image is determined as the calibration image. There is a tracking delay between the tracking information of the camera corresponding to the calibration image and the time information of the calibration image.

[0021] In one possible implementation, the method further includes:

[0022] Based on the time information of the first captured image and the time information of the first tracking information after the camera's state switch, the tracking delay of the tracking device is determined, and the state switch is the change of the camera from a stationary state to a moving state;

[0023] Specifically, determining the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image includes: determining the pose information corresponding to the calibration image from the tracking information of the corresponding camera based on the time information of the calibration image and the tracking delay.

[0024] In one possible implementation, capturing an image of the identifier graphic captured by a camera includes:

[0025] In response to a data acquisition command from the electronic device and / or a detected data acquisition trigger operation, the camera captures a picture of the identifier graphic to obtain a data acquisition image.

[0026] According to another aspect of this disclosure, a space calibration apparatus is provided, the apparatus comprising:

[0027] The graphic generation module is used to respond to the graphic generation instruction from the electronic device, generate the graphic based on the basic information of the screen used for virtual shooting, and control the screen to display the graphic.

[0028] The data receiving module is used to acquire images of the identification graphic captured by the camera, and to obtain tracking information for tracking the pose of the camera. The number of cameras is one or more.

[0029] The calibration module is used to perform spatial calibration based on the calibration images of the camera, the pose information corresponding to each calibration image, and the screen model of the screen if the number of calibration images determined in the acquired images of any one of the one or more cameras reaches a preset number, and generate the spatial calibration result of the camera.

[0030] The pose information corresponding to each calibration image is determined based on the tracking information, and the spatial calibration result is used to indicate the relative positional relationship between the corresponding camera and the screen.

[0031] In one possible implementation, the device further includes:

[0032] The pose adjustment module is used to adjust the position and / or posture of the camera when shooting the identification graphic, based on the image captured by the camera and the tracking information.

[0033] In one possible implementation, based on the footage captured by the camera and the tracking information, instructing adjustments to the position and / or orientation of the camera capturing the marker pattern, including:

[0034] Based on the footage captured by the cameras and the tracking information, the field of view coverage and screen coverage of each camera, as well as the movable range of each camera in the tracking area corresponding to the current screen, are determined.

[0035] Based on the field of view coverage, screen coverage, and movable range of each camera, the position and / or orientation of each camera for capturing the marked graphic are adjusted.

[0036] In one possible implementation, the device further includes:

[0037] The image determination module is used to perform content recognition on the acquired image. If the identification graphic included in the acquired image meets the requirements of the calibration image, the acquired image is determined as a calibration image, and the number of calibration images of each camera is counted.

[0038] The pose determination module is used to determine the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image.

[0039] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0040] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is only acquired in the scene captured when the camera is stationary, then the acquired image is determined as the calibration image. The tracking information of the camera corresponding to the calibration image includes stable tracking information obtained when the camera is stationary.

[0041] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0042] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is captured in both static and non-static scenes, then the acquired image is determined as the calibration image. There is a tracking delay between the tracking information of the camera corresponding to the calibration image and the time information of the calibration image.

[0043] In one possible implementation, the tracking delay of the tracking device is determined based on the time information of the first captured image and the time information of the first tracking information after the camera switches states, and the state switch is the change of the camera from a stationary state to a moving state.

[0044] Specifically, determining the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image includes: determining the pose information corresponding to the calibration image from the tracking information of the corresponding camera based on the time information of the calibration image and the tracking delay.

[0045] In one possible implementation, capturing an image of the identifier graphic captured by a camera includes:

[0046] In response to a data acquisition command from the electronic device and / or a detected data acquisition trigger operation, the camera captures a picture of the identifier graphic to obtain a data acquisition image.

[0047] According to another aspect of this disclosure, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described method when executing instructions stored in the memory.

[0048] According to another aspect of this disclosure, a non-volatile computer-readable storage medium is provided that stores computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement the above-described method.

[0049] According to another aspect of this disclosure, a computer program product is provided, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

[0050] The spatial calibration method and apparatus provided in this disclosure respond to a marker graphic generation instruction from an electronic device, generating a marker graphic based on basic information of the screen used for virtual shooting, and controlling the screen to display the marker graphic; capturing images of the marker graphic captured by a camera to obtain captured images, acquiring tracking information for tracking the pose of the camera, wherein the number of cameras is one or more; if the number of calibration images determined in the captured images corresponding to any one of the one or more cameras reaches a preset number, spatial calibration is performed based on the calibration images of that camera, the pose information corresponding to each calibration image, and the screen model of the screen, generating a spatial calibration result for that camera. This allows for parallel execution of spatial calibration for cameras used in virtual shooting, i.e., parallel acquisition of captured images corresponding to one or more cameras, and parallel acquisition of tracking information. When the number of calibration images in the captured images of any camera reaches a preset number, spatial calibration is performed on that camera until the spatial calibration of all cameras is completed, improving the speed and efficiency of spatial calibration and facilitating user operation.

[0051] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0052] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0053] Figure 1 A schematic diagram of the structure of a virtual shooting system according to an embodiment of the present disclosure is shown.

[0054] Figure 2 A schematic diagram illustrating the application of a spatial calibration method according to an embodiment of the present disclosure is shown.

[0055] Figure 3 A flowchart illustrating a space calibration method according to an embodiment of the present disclosure is shown.

[0056] Figure 4 This is a block diagram illustrating an apparatus 800 for space calibration according to an exemplary embodiment. Detailed Implementation

[0057] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0058] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0059] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0060] Spatial calibration is a process used in various fields to ensure the spatial accuracy and consistency of measurement, imaging, or positioning systems. Its main purpose is to eliminate or reduce spatial deviations caused by systematic errors, environmental changes, or inherent equipment characteristics, thereby improving the accuracy of measurement and imaging. In virtual photography, spatial calibration is also a crucial step, determining the positional relationship between the real camera and the real screen, and then calibrating the positional relationship between the virtual camera and the virtual screen based on this relationship. This ensures precise alignment between the real camera and the virtual scene, achieving a high-quality virtual-real fusion effect. In related technologies, the spatial calibration process involves: controlling the screen displaying the virtual scene to show identification graphics; the camera operator moving the camera and, after the camera comes to a stop, notifying the data acquisition personnel to collect image and pose information from the camera; after multiple acquisitions, performing spatial calibration for that camera based on the acquired images and pose information; and repeating this process until all cameras have completed spatial calibration. However, it is clear that performing spatial calibration for only one camera at a time is inefficient and slow.

[0061] To address the aforementioned technical problems, this disclosure provides a spatial calibration method and apparatus. Responding to a marker graphic generation instruction from an electronic device, a marker graphic is generated based on the basic information of the screen used for virtual shooting, and the screen is controlled to display the marker graphic. Images of the marker graphic captured by a camera are acquired to obtain captured images, and tracking information for tracking the camera's pose is obtained. The number of cameras can be one or more. If the number of calibration images determined in the captured images corresponding to any one of the one or more cameras reaches a preset number, spatial calibration is performed based on the calibration images of that camera, the pose information corresponding to each calibration image, and the screen model of the screen, generating a spatial calibration result for that camera. This allows for parallel execution of spatial calibration for cameras used in virtual shooting, i.e., parallel acquisition of captured images corresponding to one or more cameras and parallel acquisition of tracking information. When the number of calibration images in the captured images of any camera reaches a preset number, spatial calibration is performed on that camera until the spatial calibration of all cameras is completed, improving the speed and efficiency of spatial calibration and facilitating user operation.

[0062] To facilitate the explanation of the implementation of the spatial calibration method and apparatus provided in the embodiments of this disclosure, the virtual shooting system will be described illustratively below. For example... Figure 1 As shown, the virtual shooting system may include a camera, tracking device, switch, screen, rendering cluster, LED processor and synchronization signal generator.

[0063] There can be one or more cameras. Each camera can capture footage on-site and transmit the footage back to the control unit in the rendering cluster in real time via SDI signals. Tracking devices are attached to the cameras and can track the camera's position and orientation in real time, generating tracking information which is then broadcast to the local area network (LAN) on-site. The tracking information represents the camera's absolute position and orientation, such as its position and orientation in the world coordinate system.

[0064] Switches can be used to build a local area network (LAN) on a filming location, enabling communication between devices within the LAN. Specifically, switches can receive tracking information broadcast by tracking devices and send this information to the rendering cluster. To ensure real-time data transmission, switches need to have high bandwidth; for example, a 10 Gigabit switch would be suitable.

[0065] The screen can be an LED screen, and the LED screen may include one or more. Figure 1 The example shown uses multiple LED screens. Each LED screen includes at least one LED cabinet, with one side of the cabinet serving as an LED panel. Multiple LED panels are combined to form the display area of ​​the screen. The rendering cluster can render virtual scenes and display the rendered images of the virtual scenes on the screen. The rendering cluster includes a control machine and at least one rendering server. Figure 1 (The example in the text uses multiple rendering servers). During virtual shooting, after receiving the image transmitted from the camera, the control unit determines the image to be rendered based on this image. It then assigns this image to multiple rendering servers for rendering. The rendering servers execute the rendering tasks assigned by the control unit, obtain the rendering results, and send the results to the LED processor. The rendering servers can send the rendered image (i.e., the rendering result) to the LED processor via a DP signal. One rendering server can correspond to one or more LED cabinets, and can render the image displayed on one or more corresponding LED cabinets. The LED processor can be a hardware device for controlling the screen, and may include at least one (…). Figure 1 (Example: multiple LED processors) One LED processor can correspond to one or more LED cabinets, and the LED processor can control one or more LED cabinets corresponding to it.

[0066] A synchronization signal generator can produce synchronization signal pulses and send these pulses to cameras, tracking devices, rendering clusters, and LED processors, enabling them to synchronize. In some cases, the synchronization signal generator can transmit the synchronization signal in the form of an SDI signal.

[0067] The above is just one example of a virtual shooting system. A virtual shooting system can also include more or fewer devices as needed. These devices can be physically integrated into the same device or distributed across different devices.

[0068] like Figure 2 , Figure 3 As shown, the spatial calibration method provided in this embodiment includes steps S101-S105. This method can be applied to any device with processing capabilities, such as... Figure 1 The control unit in the virtual shooting system shown can be used by Figure 1 The virtual shooting system shown provides a local area network (LAN) for the user to control via a switch. Figure 2 The electronic devices shown communicate. This spatial calibration method is performed before the virtual shooting officially begins to ensure the quality of the virtual shooting.

[0069] In step S101, in response to the identification graphic generation instruction from the electronic device, an identification graphic is generated based on the basic information of the screen used for virtual shooting, and the screen is controlled to display the identification graphic.

[0070] In this embodiment, the electronic device can generate an identifier graphic generation instruction according to the user's operation settings, and send the identifier graphic generation instruction to the control unit through the local area network to start the entire space calibration process.

[0071] In some embodiments, the electronic device may display a calibration control for initiating spatial calibration, allowing the user to trigger the control. The electronic device can then generate an identifier graphic generation command in response to the user's triggering of the calibration control. This calibration control can be displayed in a spatial calibration interface, which may also show the user the images currently captured by each camera, along with corresponding tracking information, camera numbers, and other camera-related information. This allows the user to determine whether spatial calibration can begin based on the images captured by each camera. For example, if there are three cameras on site, and the spatial calibration interface displays images captured by all three cameras, it can be assumed that the cameras are in place and ready to operate, allowing spatial calibration to begin. The user can then trigger the calibration control, and the electronic device will issue an identifier graphic generation command.

[0072] In some embodiments, the electronic device may have an application corresponding to space calibration pre-installed in it. When the application is detected to be triggered, the electronic device connects to the control unit via a local area network and obtains the real-time images captured by each camera and the corresponding associated information from the control unit, and then displays the space calibration interface to the user.

[0073] In this embodiment, the identification graphic is easily identifiable text or symbol. The identification graphic should have clear boundaries and a significant color difference from the background so that after the camera captures an image including the identification graphic, the identification graphic can be accurately identified from the captured image, and the position of the feature points on the identification graphic in the captured image can be determined. In some embodiments, the identification graphic can be an Aruco code (also known as an Aruco mark, Aruco label, or Aruco QR code) image, a checkerboard image, etc., and this disclosure does not limit this. After generating the identification graphic, the controller sends a corresponding rendering task to the corresponding rendering server in the rendering cluster, so that the rendering server renders the image required for screen display of the identification graphic, and then sends the image to the LED processor, so that the LED processor controls the screen to display the image, enabling the identification graphic to be displayed on the screen. One or more parameters such as the type of identification graphic, the number of feature points, the arrangement method, and the density can be preset in the controller, or calculated by the controller based on screen parameters such as screen size. Optionally, at least some parameters can also be set by the user through an electronic device, and this disclosure does not limit this.

[0074] In step S102, the camera captures the image of the marked graphic to obtain a captured image, and tracking information is obtained to track the pose of the camera. The number of cameras can be one or more.

[0075] In this embodiment, after the logo is displayed on the screen, the camera operator can control the camera to capture images of the screen. One or more cameras can capture images simultaneously and transmit their respective images back to the control unit of the rendering cluster. The control unit then further captures the images captured by the cameras at a preset frequency, or in response to acquisition commands from the electronic device, or in response to detected acquisition trigger operations, to obtain captured images. Acquisition can be understood as extracting at least a portion of the frames from the captured images. During the image capture process, the tracking device also sends the determined tracking information to the control unit via the local area network.

[0076] In some embodiments, the spatial calibration interface displayed to the user by the electronic device can also display acquisition controls for each camera. When the user views the footage captured by each camera, if the current image meets the requirements for a calibration image, the user can trigger the acquisition control for that camera. The electronic device then responds to the trigger of the acquisition control, generating an acquisition command and sending it to the control unit. The control unit then responds to the acquisition command by acquiring the image of the captured footage, obtaining the acquired image corresponding to the acquisition command, and further determining the tracking information corresponding to the acquired image. Finally, the calibration image corresponding to the acquisition command is determined from the acquired image. In this way, the user can control the electronic device to acquire the captured footage. Each time the user issues an acquisition command, an image is acquired from the captured footage, resulting in a calibration image and corresponding tracking information, which improves the efficiency, speed, and accuracy of calibration image acquisition. Similarly, the control unit can also display a spatial calibration interface to the user, allowing the user to trigger the acquisition controls displayed on the control unit to issue an acquisition trigger operation. Even without receiving a collection command or collection trigger operation, the system can still collect images and acquire tracking information from the captured images at a preset frequency, obtaining multiple collected images and their corresponding tracking information. The controller then determines the calibration image from these collected images.

[0077] In one possible implementation, the method may further include: instructing adjustments to the position and / or posture of the camera relative to the marked graphic based on the footage captured by the camera and the tracking information. After determining that adjustments to the camera's position and / or posture are necessary based on the footage captured by the camera and the tracking information, the user viewing the electronic device, the electronic device, and / or the control unit will further send the required adjustments to the camera to the corresponding personnel. This can be achieved by sending adjustment information to the operator's mobile phone or other terminal, allowing the operator to directly understand what adjustments are needed for the camera they are controlling via their handheld terminal. Alternatively, the method can control equipment in the virtual shooting environment (such as speakers) to play adjustment prompts, which can be text and / or voice that the camera operator can see and / or hear, enabling the operator to adjust the camera promptly. Alternatively, the adjustment information can be directly sent to a control device that controls the camera's position and posture, allowing the control device to directly adjust the camera's position and / or posture based on the adjustment information. The implementation method for adjusting the camera's position and posture can be set according to actual needs, and this disclosure does not limit this. The electronic equipment and control unit can directly generate and issue adjustment information, and / or the control equipment can issue adjustment prompts. Users viewing the electronic equipment can transmit instructions to the camera operators regarding adjustments to the camera's position and / or attitude through the electronic equipment, control unit, or on-site walkie-talkies. For example, if it is determined that a camera's current footage lacks corresponding tracking information, it can be concluded that the camera's current position may be outside its movable range, and the tracking equipment can no longer track the camera's pose. The camera needs to be moved back into the movable range, and its pose can then be adjusted. Similarly, if a camera is not capturing the screen, or the captured screen area is too small to obtain a calibration image, the operator or control equipment can be notified to adjust the camera's position and / or attitude.

[0078] In some embodiments, instructing adjustments to the position and / or orientation of the cameras when shooting at the marker graphic, based on the footage captured by the cameras and the tracking information, may include: determining the field-of-view coverage and screen coverage of each camera, as well as the movable range of each camera in the tracking area corresponding to the current screen, based on the footage captured by the cameras and the tracking information; and instructing adjustments to the position and / or orientation of each camera when shooting at the marker graphic, based on the field-of-view coverage, screen coverage, and movable range of each camera.

[0079] The camera's field of view coverage can refer to the proportion of the screen area included within the camera's field of view. The camera's screen coverage can refer to the proportion of the screen area captured by the camera within the total screen area. The camera's movable range within the tracking area corresponding to the current screen can refer to the range within which tracking equipment can determine the tracking information of the camera in the virtual shooting scene.

[0080] In this embodiment, the tracking device can only track the pose of cameras within its movable range. Therefore, if the tracking device does not return tracking information, it can be determined that the camera has moved outside the movable range. Based on the position information in the last tracking information returned before the tracking device returned tracking information, a boundary point of the camera's movable range can be determined. Furthermore, based on multiple determined boundary points, the camera's movable range can be determined. To achieve spatial calibration, the camera needs to be kept within the movable range at all times. Therefore, if it is determined that the camera can return a captured image but tracking information is not returned, it is determined that the camera position needs to be adjusted. Based on the camera's most recent tracking information and its movable range, the camera can be moved back towards the movable range.

[0081] In this embodiment, if it is determined that the camera's field of view coverage is not within the range required for spatial calibration, for example, if the field of view coverage is too small, the camera can be moved in a direction that increases the distance between the camera and the screen, or the camera's posture can be adjusted (e.g., changing the angle between the camera and the screen) to expand the area of ​​the screen that can be covered within the field of view. If it is determined that the camera's screen coverage is not within the range required for spatial calibration, for example, if the screen coverage is too small, the camera can be moved in a direction that decreases the distance between the camera and the screen, or the camera's posture can be adjusted (e.g., changing the angle between the camera and the screen) to make the screen occupy a larger proportion of the image.

[0082] In step S103, content recognition is performed on the acquired image. If the identifier graphic included in the acquired image meets the requirements of a calibration image, the acquired image is determined as a calibration image. Based on the tracking information of the camera corresponding to the calibration image, the pose information corresponding to the calibration image is determined. The requirement that the identifier graphic included in the acquired image meets the requirements of a calibration image may include: the acquired image includes identifier graphics with a resolution higher than a resolution threshold. A resolution higher than the resolution threshold can mean that the size of the identifier graphic in the acquired image meets the requirements for spatial calibration, and the resolution of the identifier graphic is also higher than the resolution threshold (this resolution threshold can be set according to the requirements of spatial calibration). For example, if the identifier graphic is an Aruco code image, then "the size of the identifier graphic in the acquired image meets the requirements for spatial calibration" can mean that the number of Aruco codes in the acquired image meets the requirements for spatial calibration. The methods for determining the calibration image and its tracking information include the following implementation methods one and two, which are described below.

[0083] Implementation Method 1: If the marker pattern included in the acquired image meets the requirements of a calibration image, and the acquired image is only acquired in the footage captured when the camera is stationary, then the acquired image is determined as a calibration image. The tracking information of the camera corresponding to the calibration image includes stable tracking information obtained when the camera is stationary. In this case, when the controller acquires the acquired image from the footage captured by the camera, it needs to determine whether the camera was stationary when the acquired image was captured. If it is stationary, and the marker pattern included in the acquired image meets the requirements of a calibration image, then it can be used as a calibration image. In this case, since the camera is stationary when capturing the acquired image, the tracking information remains unchanged. Tracking information with time information that is the same as or similar to the time information of the acquired image and is in a stable state (e.g., unchanged for a period of time) can be selected as the tracking information corresponding to the calibration image. The time information corresponding to the calibration image can be the timestamp of the camera capturing the calibration image, and the time information of the tracking information can be the timestamp of the tracking information acquired by the tracking device. This timestamp can be a timestamp on the synchronization signal.

[0084] The control unit can detect multiple frames in the captured image to determine if there is any shaking. If there is no shaking, it can be determined that the captured image was taken by the camera when it was stationary, and at least some frames from the multiple captured frames are used as calibration images. If there is shaking, it can be determined that the captured image was taken by the camera when it was in motion. Shaking detection can be achieved by combining existing technologies such as feature point matching, frame difference detection, and region motion analysis, and this disclosure does not limit this. Alternatively, the control unit can first determine whether there is shaking in the image captured by the camera in a similar way, and then acquire the captured image from a group of adjacent frames without shaking.

[0085] Implementation Method 2: If the identifier graphic included in the acquired image meets the requirements of the calibration image, then the acquired image is determined as the calibration image. This includes: if the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is captured in both static and non-static scenes, then the acquired image is determined as the calibration image. In this case, there is a tracking delay between the tracking information of the camera corresponding to the calibration image and the time information of the calibration image.

[0086] Although the tracking device is attached to the camera, the frame rate of the footage captured by the camera is different from the frame rate of the tracking information obtained by the tracking device. Therefore, the time information corresponding to the captured footage returned by the camera at the same moment and the time information of the tracking information corresponding to that captured footage may not be synchronized, resulting in a delay. Furthermore, since the synchronization signal has been sent to each device in the virtual shooting system, the acquired images and tracking information can be updated according to the frequency of the synchronization signal, ensuring a fixed delay between the tracking information and the acquired images. After pre-calculating the tracking delay, the pose information corresponding to each calibration image can be determined from the tracking information based on the time information of the calibration image and each tracking information. With the introduction of tracking delay, the controller can acquire images from both stationary and non-stationary camera footage, i.e., it is not necessary to consider whether the camera is stationary. Therefore, the method may further include: before determining the tracking information of the calibration image, determining the tracking delay of the tracking device based on the time information of the first captured image and the time information of the first tracking information after the camera's state switch, where the state switch is the change of the camera from a stationary state to a moving state. This is because suddenly moving the camera forward or backward causes a state switch, which in turn causes a jump in the tracking information and the captured image. Based on the time information corresponding to the first captured image after the jump and the time information corresponding to the first tracking information after the jump, the tracking delay of the tracking device can be determined.

[0087] The controller can detect camera shake in each frame of the captured footage, using this as a basis for determining whether the camera has switched states. If shake is detected, the time information corresponding to the first captured frame after the shake can be determined. Furthermore, the controller can compare tracking information. Since the camera's pose is not fixed when stationary, the pose information in the tracking information will also change if the camera switches states. Therefore, the change in pose information in the tracking information can be used as a basis for determining whether the camera has changed. By comparing the pose information in the tracking information, the time information of the first tracking information where the pose information changes can be determined. Obviously, the first captured frame after the camera switches states must correspond to the first tracking information; the difference between their time information can be used as the tracking delay Δt. For each captured frame after the first captured frame, assuming the timestamp of the captured frame is t, the tracking information at timestamp t + Δt is taken as the tracking information for that captured frame. The tracking delay only needs to be calculated once and used continuously thereafter.

[0088] In this way, by implementing method two, spatial calibration can be achieved by having at least one operator standing in front of the screen to operate each camera. Even if the camera moves, spatial calibration can continue by calculating the tracking delay, without having to wait for the camera to come to a stop before data acquisition. This is simpler, faster, more efficient, and more stable.

[0089] In step S104, the number of calibration images for each camera is counted. Then, for each camera, the number of calibration images is judged. If the number of calibration images for any camera reaches a preset number, step S105 is executed. If the number of calibration images for any camera does not reach the preset number, step S103 is continued to select a new calibration image from the newly acquired images until the number of calibration images for that camera reaches the preset number. The preset number can be set according to actual needs; for example, the preset number could be 8, and this disclosure does not limit it.

[0090] In step S105, spatial calibration is performed based on the calibration images of the cameras, the pose information corresponding to each calibration image, and the screen model of the screen to generate corresponding spatial calibration results for the cameras. The pose information corresponding to each calibration image, as mentioned above, is determined based on the tracking information. The spatial calibration results are used to indicate the relative positional relationship between the corresponding camera and the screen. Spatial calibration can be performed using relevant technologies. In this way, by simultaneously acquiring calibration images for each camera and then sequentially performing spatial calibration on cameras with a preset number of calibration images, parallel spatial calibration in a multi-camera scenario is achieved.

[0091] In one possible implementation, the method may further include generating the screen model based on the screen's basic information and the calibration image. This is more efficient, accurate, and faster than building a screen model based on manual measurement data, while also saving manpower and resources.

[0092] After setting up the screen for virtual shooting, its position and shape need to remain constant before spatial calibration can begin to determine the relative positions of the camera and the screen used for virtual shooting. Since the screen can include one or more LED cabinets, if it comprises two or more LED cabinets, they can be arranged in rows and columns to create various screen shapes. Therefore, the basic information of the screen can include the number of rows and columns of the LED cabinets, the size of individual LED cabinets, the resolution of individual LED cabinets, and the overall resolution of the screen. This basic screen information can be input by the user through electronic devices or obtained through other means; this disclosure does not impose any limitations on this.

[0093] Among these, since the screen is usually a continuous screen, that is, as Figure 1 The screen shown is a continuous display area composed of multiple LED screens. Therefore, the relative positions of the LED screens can be represented by the angles between the LED cabinets located at the boundary areas. Thus, it is necessary to determine the angles between adjacent LED cabinets within the screen. Based on the screen's basic information, the overall structure of the screen can be determined. By using multiple acquired calibration images, the relative positions between different LED screens and the angles between adjacent LED cabinets within different LED screens are determined, ultimately generating the screen model. The screen model can refer to a three-dimensional model of the screen. If there are multiple screens, there can also be multiple screen models. For example, if the screen includes a floor screen, a ceiling screen, and a curved vertical screen, then the corresponding screen model includes three models corresponding to the floor screen, ceiling screen, and curved vertical screen, respectively.

[0094] This disclosure also provides a space calibration device, which includes:

[0095] The graphic generation module is used to respond to the graphic generation instruction from the electronic device, generate the graphic based on the basic information of the screen used for virtual shooting, and control the screen to display the graphic.

[0096] The data receiving module is used to acquire images of the identification graphic captured by the camera, and to obtain tracking information for tracking the pose of the camera. The number of cameras is one or more.

[0097] The calibration module is used to perform spatial calibration based on the calibration images of the camera, the pose information corresponding to each calibration image, and the screen model of the screen if the number of calibration images determined in the acquired images of any one of the one or more cameras reaches a preset number, and generate the spatial calibration result of the camera.

[0098] The pose information corresponding to each calibration image is determined based on the tracking information, and the spatial calibration result is used to indicate the relative positional relationship between the corresponding camera and the screen.

[0099] In one possible implementation, the device further includes:

[0100] The pose adjustment module is used to adjust the position and / or posture of the camera when shooting the identification graphic, based on the image captured by the camera and the tracking information.

[0101] In one possible implementation, based on the footage captured by the camera and the tracking information, instructing adjustments to the position and / or orientation of the camera capturing the marker pattern, including:

[0102] Based on the footage captured by the cameras and the tracking information, the field of view coverage and screen coverage of each camera, as well as the movable range of each camera in the tracking area corresponding to the current screen, are determined.

[0103] Based on the field of view coverage, screen coverage, and movable range of each camera, the position and / or orientation of each camera for capturing the marked graphic are adjusted.

[0104] In one possible implementation, the device further includes:

[0105] The image determination module is used to perform content recognition on the acquired image. If the identification graphic included in the acquired image meets the requirements of the calibration image, the acquired image is determined as a calibration image, and the number of calibration images of each camera is counted.

[0106] The pose determination module is used to determine the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image.

[0107] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0108] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is only acquired in the scene captured when the camera is stationary, then the acquired image is determined as the calibration image. The tracking information of the camera corresponding to the calibration image includes stable tracking information obtained when the camera is stationary.

[0109] In one possible implementation, if the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including:

[0110] If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is captured in both static and non-static scenes, then the acquired image is determined as the calibration image. There is a tracking delay between the tracking information of the camera corresponding to the calibration image and the time information of the calibration image.

[0111] In one possible implementation, the device further includes:

[0112] The tracking delay determination module is used to determine the tracking delay of the tracking device based on the time information of the first captured image and the time information of the first tracking information after the camera switches states, wherein the state switch is the change of the camera from a stationary state to a moving state;

[0113] Specifically, determining the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image includes: determining the pose information corresponding to the calibration image from the tracking information of the corresponding camera based on the time information of the calibration image and the tracking delay.

[0114] In one possible implementation, capturing an image of the identifier graphic captured by a camera includes:

[0115] In response to a data acquisition command from the electronic device and / or a detected data acquisition trigger operation, the camera captures a picture of the identifier graphic to obtain a data acquisition image.

[0116] It should be noted that although the above embodiments have been used as examples to illustrate the space calibration method and apparatus, those skilled in the art will understand that this disclosure is not limited thereto. In fact, users can flexibly set each step and module according to their personal preferences and / or actual application scenarios, as long as it conforms to the technical solution of this disclosure.

[0117] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0118] This disclosure also proposes a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the above-described method. The computer-readable storage medium can be volatile or non-volatile.

[0119] This disclosure also proposes an electronic device, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0120] This disclosure also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

[0121] Figure 4 This is a block diagram illustrating an apparatus 800 for spatial calibration according to an exemplary embodiment. For example, apparatus 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0122] Reference Figure 4 The device 800 may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input / output interface 812 (I / O interface), sensor component 814, and communication component 816.

[0123] Processing component 802 typically controls the overall operation of device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0124] Memory 804 is configured to store various types of data to support the operation of device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0125] Power supply component 806 provides power to various components of device 800. Power supply component 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to device 800.

[0126] Multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0127] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0128] Input / output interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0129] Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of device 800, changes in the position of device 800 or a component of device 800, the presence or absence of user contact with device 800, the orientation or acceleration / deceleration of device 800, and temperature changes of device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0130] Communication component 816 is configured to facilitate wired or wireless communication between device 800 and other devices. Device 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0131] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0132] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 804 including computer program instructions that can be executed by a processor 820 of the device 800 to perform the above-described method.

[0133] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0134] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0135] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0136] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0137] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0138] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0139] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0140] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0141] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A space calibration method, characterized in that, The method includes: In response to a logo graphic generation instruction from an electronic device, a logo graphic is generated based on the basic information of the screen used for virtual shooting, and the screen is controlled to display the logo graphic. The system captures images of the marked graphic using a camera that is either stationary or not stationary, and obtains tracking information to track the pose of the camera. The number of cameras may be one or more. If the number of calibration images determined in the acquired images corresponding to any one of the one or more cameras reaches a preset number, then spatial calibration is performed based on the calibration images of the camera, the pose information corresponding to each calibration image, and the screen model of the screen to generate the spatial calibration result of the camera. The pose information corresponding to the calibration image when the camera is stationary during acquisition is determined based on the tracking information of the camera corresponding to the calibration image. The pose information corresponding to the calibration image when the camera is in a non-static state during acquisition is determined from the tracking information of the corresponding camera based on the time information and tracking delay of the calibration image. The tracking delay exists between the tracking information of the camera corresponding to the calibration image when the camera is in a non-static state during acquisition and the time information of the calibration image. The spatial calibration results are used to indicate the relative positional relationship between the corresponding camera and the screen.

2. The method according to claim 1, characterized in that, The method further includes: Based on the footage captured by the camera and the tracking information, the position and / or orientation of the camera for capturing the marked graphic are adjusted.

3. The method according to claim 2, characterized in that, Based on the footage captured by the camera and the tracking information, instructing adjustments to the position and / or orientation of the camera when capturing the marker graphic, including: Based on the footage captured by the cameras and the tracking information, the field of view coverage and screen coverage of each camera, as well as the movable range of each camera in the tracking area corresponding to the current screen, are determined. Based on the field of view coverage, screen coverage, and movable range of each camera, the position and / or orientation of each camera for capturing the marked graphic are adjusted.

4. The method according to claim 1, characterized in that, The method further includes: Content recognition is performed on the acquired images. If the identification graphic included in the acquired images meets the requirements of a calibration image, the acquired image is determined as a calibration image, and the number of calibration images for each camera is counted. Based on the tracking information of the camera corresponding to the calibration image, the pose information corresponding to the calibration image is determined.

5. The method according to claim 4, characterized in that, If the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including: If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is only acquired in the scene captured when the camera is stationary, then the acquired image is determined as the calibration image. The tracking information of the camera corresponding to the calibration image includes stable tracking information obtained when the camera is stationary.

6. The method according to claim 4, characterized in that, If the identifier graphic included in the acquired image meets the requirements of a calibration image, then the acquired image is determined as a calibration image, including: If the identifier graphic included in the acquired image meets the requirements of the calibration image, and the acquired image is captured in both static and non-static scenes, then the acquired image is determined as the calibration image.

7. The method according to claim 6, characterized in that, The method further includes: Based on the time information of the first captured image and the time information of the first tracking information after the camera's state switch, the tracking delay is determined. The state switch is the change of the camera from a stationary state to a moving state. Specifically, determining the pose information corresponding to the calibration image based on the tracking information of the camera corresponding to the calibration image includes: determining the pose information corresponding to the calibration image from the tracking information of the corresponding camera based on the time information of the calibration image and the tracking delay.

8. The method according to claim 1, characterized in that, The captured image is obtained by capturing images of the logo graphic captured by the camera, including: In response to a data acquisition command from the electronic device and / or a detected data acquisition trigger operation, the camera captures a picture of the identifier graphic to obtain a data acquisition image.

9. A space calibration device, characterized in that, The device includes: The graphic generation module is used to respond to the graphic generation instruction from the electronic device, generate the graphic based on the basic information of the screen used for virtual shooting, and control the screen to display the graphic. The data receiving module is used to acquire images of the identification graphic captured by a camera in a stationary or non-stationary state, and to obtain tracking information for tracking the pose of the camera. The number of cameras is one or more. The calibration module is used to perform spatial calibration based on the calibration images of the camera, the pose information corresponding to each calibration image, and the screen model of the screen if the number of calibration images determined in the acquired images of any one of the one or more cameras reaches a preset number, and generate the spatial calibration result of the camera. The pose information corresponding to the calibration image when the camera is stationary during acquisition is determined based on the tracking information. The pose information corresponding to the calibration image when the camera is in a non-static state during acquisition is determined from the tracking information of the corresponding camera based on the time information and tracking delay of the calibration image. The tracking delay exists between the tracking information of the camera corresponding to the calibration image when the camera is in a non-static state during acquisition and the time information of the calibration image. The spatial calibration results are used to indicate the relative positional relationship between the corresponding camera and the screen.

10. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1 to 8 when executing instructions stored in the memory.

11. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 8.

12. A computer program product comprising computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, characterized in that, When the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the method according to any one of claims 1 to 8.

Images