Camera optical axis calibration method and device, camera and storage medium

Abstract

The invention discloses a camera optical axis calibration method and device, a camera and a storage medium. The method comprises the following steps: setting a visible light day and night switching mode of the camera as a daytime mode; a thermal imaging picture output by the thermal imaging lens is adjusted, so that the center of the thermal imaging picture is aligned with the target position of the shot object; when the center of the thermal imaging picture is aligned with the target position of the shot object, adjusting a visible light picture output by the visible light lens to enable the center of the visible light picture to be aligned with the target range of the shot object; when the center of the visible light picture is aligned with the target range of the shot object, setting a visible light day and night switching mode of the camera as a night mode; carrying out region marking on an image obtained by shooting the target object by using the visible light lens; and adjusting the laser illuminating lamp to enable a light area formed by the laser illuminating lamp to be within a target range limited by the area mark. According to the invention, the problem of poor overlap ratio of shot pictures caused by calibration defects is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of cameras, and more specifically to a method and device for calibrating the optical axis of a camera, a camera, and a storage medium. Background Art

[0002] With the continuous progress of security monitoring technology and the increasing expansion of the machine application field, as one of the cores of security monitoring, the imaging module is also continuously improving its functions and applications. Among them, camera products integrating visible light + thermal imaging + laser lighting bring more comprehensive and accurate reconnaissance and testing functions to security monitoring. The high-power visible light imaging lens relies on natural light to attach to the visible light image of the target object through magnification conversion, and obtains high-resolution and color-rich images, so as to achieve accurate identification and positioning of the target. The thermal imaging lens uses the infrared radiation emitted by the target object for imaging, which is not restricted by light conditions and can work normally whether it is day or night or in bad weather. This lens can detect the temperature distribution of the object, which helps the camera to discover hidden targets or heat sources, and then improve the efficiency of reconnaissance and monitoring. The laser lens provides near-infrared supplementary light under low light conditions at night, which is beneficial to improving the image effect of the high-power zoom module, and at the same time takes into account the ranging function, which helps the camera to accurately position, track and range the target.

[0003] For a security monitoring high-speed camera integrated with a visible light lens, a thermal imaging lens, and a laser lighting lamp, in order to obtain the unity of the picture size and the accuracy of the position of the target object, it is necessary to establish the same optical axis among different lenses of the camera to prevent image misalignment between visible light at different magnifications and the infrared thermal imaging lens; and to prevent misalignment (insufficient illumination picture) between different magnifications of light and the laser variable-focus lighting lamp.

[0004] However, the existing security monitoring high-speed cameras integrated with a visible light lens, a thermal imaging lens, and a laser lighting lamp have the problem of poor coincidence of the captured pictures due to calibration defects. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method and device for calibrating the optical axis of a camera, a camera, and a storage medium.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for calibrating the optical axis of a camera, the camera being integrated with a visible light lens, a thermal imaging lens, and a laser lighting lamp, including:

[0008] Set the visible light day-night switching mode of the camera to the day mode;

[0009] Adjust the thermal imaging screen output by the thermal imaging lens so that the center of the thermal imaging screen is aligned with the target position of the object to be photographed;

[0010] After the center of the thermal imaging screen is aligned with the target position of the object to be photographed, adjust the visible light screen output by the visible light lens so that the center of the visible light screen is within the target range of the object to be photographed;

[0011] After the center of the visible light screen is within the target range of the object to be photographed, set the visible light day / night switching mode of the camera to the night mode;

[0012] Perform area marking on the image obtained by photographing the target object using the visible light lens;

[0013] Adjust the laser illumination lamp so that the bright area formed by the laser illumination lamp is within the target range defined by the area marking.

[0014] Further, the object to be photographed is a target pattern, and the target pattern marking includes a cross mark located at the center of the target pattern and an inner circle mark extending outward from the center of the target pattern.

[0015] Further, the target position is the cross mark at the center of the target pattern.

[0016] Further, the target range is the range defined by the inner circle mark.

[0017] Further, the area marking includes a scale and a judgment circle.

[0018] Further, the performing area marking on the image obtained by photographing the target object using the visible light lens includes:

[0019] Zoom the visible light lens to a predetermined position;

[0020] On the image obtained by photographing the target object with the visible light lens zoomed to the predetermined position, draw scale lines in the up, down, left, and right directions respectively, and the scale lines in the up and down directions and the scale lines in the left and right directions are symmetrically arranged along the common center;

[0021] Draw a judgment circle with the common center as the origin according to the specified radius.

[0022] Further, the adjusting the laser illumination lamp so that the bright area formed by the laser illumination lamp is within the target range defined by the area marking includes:

[0023] Adjust the laser illumination lamp so that the edges of the bright area formed by the laser illumination lamp are symmetric left and right and the whole is within the judgment circle.

[0024] In a second aspect, the present invention further provides a camera optical axis calibration device. The camera is integrated with a visible light lens, a thermal imaging lens, and a laser illumination lamp, and includes:

[0025] A first switching unit for setting the visible light day / night switching mode of the camera to the day mode;

[0026] A first adjustment unit for adjusting the thermal imaging picture output by the thermal imaging lens so that the center of the thermal imaging picture is aligned with the target position of the object to be photographed;

[0027] A second adjustment unit for, after the center of the thermal imaging picture is aligned with the target position of the object to be photographed, further adjusting the visible light picture output by the visible light lens so that the center of the visible light picture is within the target range of the object to be photographed;

[0028] A second switching unit for, after the center of the visible light picture is within the target range of the object to be photographed, setting the visible light day / night switching mode of the camera to the night mode;

[0029] A marking unit for performing area marking on the image obtained by photographing the target object using the visible light lens;

[0030] A third switching unit for adjusting the laser illumination lamp so that the bright area formed by the laser illumination lamp is within the target range defined by the area marking.

[0031] In a third aspect, the present invention further provides a camera, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the camera optical axis calibration method as described above is implemented.

[0032] In a fourth aspect, the present invention further provides a computer-readable storage medium. The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by the processor, the processor is caused to execute the camera optical axis calibration method as described above.

[0033] The beneficial effects of the present invention compared with the prior art are as follows: For a camera optical axis calibration method, the camera is integrated with a visible light lens, a thermal imaging lens, and a laser illumination lamp, including: setting the visible light day and night switching mode of the camera to the day mode; adjusting the thermal imaging image output by the thermal imaging lens so that the center of the thermal imaging image is aligned with the target position of the object to be photographed; after the center of the thermal imaging image is aligned with the target position of the object to be photographed, adjusting the visible light image output by the visible light lens so that the center of the visible light image is within the target range of the object to be photographed; after the center of the visible light image is within the target range of the object to be photographed, setting the visible light day and night switching mode of the camera to the night mode; performing area marking on the image obtained by photographing the target object using the visible light lens; adjusting the laser illumination lamp so that the illuminated area formed by the laser illumination lamp is within the target range defined by the area marking. The present invention calibrates the optical axes of the thermal imaging lens and the visible light lens by establishing the relationship between them, and calibrates the optical axes of the visible light lens and the laser illumination lamp by establishing the relationship between them, improving the calibration accuracy and efficiency, and avoiding the problem of poor coincidence of the photographed images due to calibration defects.

[0034] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 It is a flowchart of the camera optical axis calibration method provided by a specific embodiment of the present invention;

[0037] Figure 2 It is a schematic block diagram of the camera optical axis calibration device provided by a specific embodiment of the present invention;

[0038] Figure 3 It is a schematic block diagram of a camera provided by a specific embodiment of the present invention;

[0039] Figure 4 It is a linear graph of the driving steps of the visible light lens and the field of view angle provided by a specific embodiment of the present invention;

[0040] Figure 5Schematic diagram of the calibration principle of the visible light lens and the thermal imaging lens provided by the specific embodiment of the present invention;

[0041] Figure 6 Schematic diagram of the calibration scene provided by the specific embodiment of the present invention;

[0042] Figure 7 Target pattern provided by the specific embodiment of the present invention;

[0043] Figure 8 Image output screen of the camera during the optical axis adjustment process provided by the specific embodiment of the present invention;

[0044] Figure 9 Linear graph of the laser driver step number and the field of view angle provided by the specific embodiment of the present invention;

[0045] Figure 10 Curve graph of the angle and the relative illuminance when the laser driver drives to 10° provided by the specific embodiment of the present invention;

[0046] Figure 11 Calibration effect diagram of the laser illumination lamp in the visible light lens image output screen provided by the specific embodiment of the present invention. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0049] It should also be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0050] It should be further understood that the term " / and / " used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0051] An embodiment of the present invention provides a method for calibrating the optical axis of a camera, where the camera is integrated with a visible light lens, a thermal imaging lens, and a laser illumination lamp. As Figure 1 shown, the method for calibrating the optical axis of the camera includes the following steps: S10 - S60.

[0052] S10. Set the visible light day - night switching mode of the camera to the day mode.

[0053] By setting the camera to the day mode, sufficient natural light can be utilized to avoid interference caused by insufficient night light during the calibration process. When the daylight illumination conditions are good during the day, the visible light lens can obtain clear and detailed - rich images, facilitating the operator to observe and adjust the picture more accurately, thereby improving the accuracy of subsequent optical axis calibration. For example, when calibrating the optical axis relationship between the visible light lens and the thermal imaging lens, a clear visible light picture enables the operator to more precisely judge the alignment between the center of the visible light picture and the target position of the photographed object.

[0054] S20. Adjust the thermal imaging picture output by the thermal imaging lens so that the center of the thermal imaging picture is aligned with the target position of the photographed object.

[0055] The photographed object is a target - shaped pattern. As Figure 7 shown, the target - shaped pattern markings include a cross marking located at the center of the target - shaped pattern and an inner - circle (i.e., the green circle in the figure) marking extending outward from the center of the target - shaped pattern. It should be noted that the inner - circle specification is 1.5% (calculated based on the visible light field - of - view being greater than the thermal imaging single - side by 0.5° for visible light offset & frame calculation); if the visible light is driven to the TELE position, the offset control amount of the inner - circle is controlled at 10% at the 300m position.

[0056] As Figure 6 described, in the calibration scene, the calibration distance is 15m, the theoretical calibrated visible - light target surface is 3.13 * 2.36m (thermal infrared frame 2.76m x 2.07m), and the visible - light lens is set according to 1.14 times the frame.

[0057] To ensure synchronization with the monitoring of the thermal imaging lens, the visible - light lens drive frame and the thermal imaging lens frame are configured in a ratio of 1.1:1. As Figure 4 described, the 32 - fold visible - light lens zoom is driven to around - 56 steps, cropped into 4MP (2560 * 1440) output according to the existing SC530AI 5MP (2884 * 1624), and the visible - light lens Focus focuses on a diagonal field - of - view of 14.98°(D) * 11.9°(H) * 9°(V). Note: The thermal imaging field - of - view is 13.1°(D) * 10.5°(H) * 7.9°(V), and 0.55° is reserved on the vertical - direction single - side.

[0058] S30. After the center of the thermal imaging screen is aligned with the target position of the object to be photographed, adjust the visible light screen output by the visible light lens so that the center of the visible light screen is within the target range of the object to be photographed.

[0059] In this embodiment, the target position is the cross mark at the center of the target pattern, and the target range is the range defined by the inner circle mark.

[0060] In this embodiment, as Figure 5 shown, the optical axes of the thermal imaging lens and the visible light lens intersect at point P (i.e., 54.4 m), which is achieved by calibrating the optical axes of the two lenses by marking positions in the frame through the thermal imaging lens and the visible light lens. As Figure 8 shown, Figure 8 the left figure in Figure 8 shows that the center of the visible light screen is within the range defined by the inner circle mark of the target pattern,

[0061] It should be noted that for convenient adjustment, the thermal imaging lens and the visible light lens are realized through an auxiliary adjustment platform, and the position of the camera can be adjusted by using the movement of the auxiliary adjustment platform in the X, Y, and Z axis directions.

[0062] After completing step S30, the calibration of the optical axes of the visible light lens and the thermal imaging lens is completed.

[0063] It should also be noted that before adjusting the thermal imaging screen output by the thermal imaging lens, it is necessary to focus the visible light lens and the thermal imaging lens to make the imaging clear.

[0064] S40. After the center of the visible light screen is within the target range of the object to be photographed, set the visible light day / night switching mode of the camera to the night mode.

[0065] S50. Perform area marking on the image obtained by photographing the target object using the visible light lens.

[0066] In this embodiment, the area marking includes a scale and a judgment circle.

[0067] In one embodiment, step S50 specifically includes the following steps: S501 - S503.

[0068] S501. Zoom the visible light lens to a predetermined position.

[0069] S502. Draw scale lines in the up, down, left, and right directions respectively on the image obtained by photographing the target object after zooming the visible light lens to the predetermined position, and the scale lines in the up and down directions and the scale lines in the left and right directions are symmetrically arranged along the common center.

[0070] S503. Draw a judgment circle with a specified radius centered on the common center.

[0071] For steps S501 - S503, by zooming the visible light lens to a predetermined position, it is possible to ensure that image acquisition and subsequent processing can be carried out with a unified perspective and magnification factor under different shooting scenarios and target objects. The drawn scale lines and judgment circle provide an accurate quantitative reference for adjusting the laser illumination lamp.

[0072] Region marking makes the subsequent analysis of the image more accurate and efficient. In some application scenarios where size measurement, position judgment, etc. of the target object are required, the scale lines can be used as a measurement reference for length and distance, and the judgment circle can be used as a basis for judging whether the target is within the specified range.

[0073] S60. Adjust the laser illumination lamp so that the bright area formed by the laser illumination lamp is within the target range defined by the region marking.

[0074] In one embodiment, step S60 specifically includes the following steps: S601.

[0075] S601. Adjust the laser illumination lamp so that the edges of the bright area formed by the laser illumination lamp are symmetric left and right and the whole is within the judgment circle.

[0076] For step S601, select the driving angle where the relative illuminance of the laser drops relatively sharply to obtain the coincidence of the center position of the illumination spot (bright area) and the center position of the picture during the night vision adjustment process. As Figure 10 shown, when the laser is driven to 10°, the brightness around its spot drops significantly (the drop at 0.5° is greater than 15%). In this state, when imaging with visible light, the contrast between light and dark around the picture spot is obvious, which is convenient for adjusting the center of the illumination spot and the center of the picture in the image. As Figure 9 、 Figure 11As shown, the 32x visible light lens is driven near zoom-56step, and then focus correction is performed after focus adjustment; for the convenience of laser correction, the illumination spot in the output frame is smaller than the imaging light frame, less than 0.5° (i.e., driving its position interface to control the 98th position in the 0-100 range, i.e., the 27E2 position) for laser correction. Corresponding to a deviation of 15m (-0.0052, -0.0152), it can meet the optical illumination requirements. Coaxiality correction needs to consider the position deviation between the laser illumination and the imaging optics. This solution considers controlling the center position and radius of the spot in the output frame. According to the 1.2-fold principle of the zoom lens & laser spot coverage, the TELE end (2.5°) of the visible light lens is the bottleneck end. According to 0.25° on one side (the displacement of the 15m position deviation is 0.0655m in the V direction), the frame affects 20 sizes (equivalent to 1280*720), which is converted into 1.5 grids per unit in the frame. The adjustment process is determined according to a deviation of 1.5 grids (i.e., the spot radius is 6, and the allowable deviation range is 4.5-7.5. As Figure 11 shown, judge the circle from 5 to 8 grids. The left and right sides of the edge of the bright area in this figure are symmetrical and the whole is located within the judgment circle, that is, the calibration is successful.

[0077] After completing step S60, the calibration of the optical axes of the visible light lens and the thermal imaging lens, and the calibration of the optical axes of the visible light lens and the laser illumination lamp are completed.

[0078] In summary, the present invention calibrates the optical axes of the thermal imaging lens and the visible light lens by establishing the relationship between them, and calibrates the optical axes of the visible light lens and the laser illumination lamp by establishing the relationship between them, improving the calibration accuracy and efficiency, and avoiding the problem of poor coincidence of the captured images due to calibration defects.

[0079] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0080] The embodiment of the present invention also provides a camera optical axis calibration device, which is used to execute the steps in any one of the foregoing embodiments of the camera optical axis calibration method. Specifically, please refer to Figure 2 , Figure 2 shows a schematic block diagram of a camera optical axis calibration device 100 provided by an embodiment of the present application. The camera optical axis calibration device 100 specifically includes:

[0081] The first switching unit 110 is configured to set the visible light day-night switching mode of the camera to the day mode; the first adjustment unit 120 is configured to adjust the thermal imaging picture output by the thermal imaging lens so that the center of the thermal imaging picture is aligned with the target position of the object to be photographed; the second adjustment unit 130 is configured to, after the center of the thermal imaging picture is aligned with the target position of the object to be photographed, further adjust the visible light picture output by the visible light lens so that the center of the visible light picture is within the target range of the object to be photographed; the second switching unit 140 is configured to, after the center of the visible light picture is within the target range of the object to be photographed, set the visible light day-night switching mode of the camera to the night mode; the marking unit 150 is configured to perform area marking on the image obtained by photographing the target object using the visible light lens; the third switching unit 160 is configured to adjust the laser illumination lamp so that the illuminated area formed by the laser illumination lamp is within the target range defined by the area marking.

[0082] In one embodiment, the marking unit 150 is further specifically configured to:

[0083] Zoom the visible light lens to a predetermined position; draw scale lines in the up, down, left, and right directions respectively on the image obtained by photographing the target object after the visible light lens is zoomed to the predetermined position, and the scale lines in the up-down direction and the scale lines in the left-right direction are symmetrically arranged along a common center; draw a determination circle with the common center as the origin according to a specified radius.

[0084] In one embodiment, the third switching unit 160 is further specifically configured to:

[0085] Adjust the laser illumination lamp so that the edges of the illuminated area formed by the laser illumination lamp are symmetric left and right and the whole is located within the determination circle.

[0086] It should be noted that those skilled in the art can clearly understand that the specific implementation processes of the above camera optical axis calibration device 100 and each unit can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated here.

[0087] The above camera optical axis calibration device can be implemented in the form of a computer program, and this computer program can run on a camera as shown in Figure 3 shown.

[0088] Please refer to Figure 3 , Figure 3 which is a schematic block diagram of a camera provided by an embodiment of the present application.

[0089] As shown in Figure 3 shown, the camera includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above camera optical axis calibration method are implemented.

[0090] The camera 700 includes a processor 720, a memory, and a network interface 750 connected via a system bus 710. Among them, the memory may include a non-volatile storage medium 730 and an internal memory 740.

[0091] The non-volatile storage medium 730 can store an operating system 731 and a computer program 732. When the computer program 732 is executed, it can cause the processor 720 to execute the camera optical axis calibration method.

[0092] The processor 720 is used to provide computing and control capabilities to support the operation of the entire camera 700.

[0093] The internal memory 740 provides an environment for the operation of the computer program 732 in the non-volatile storage medium 730. When the computer program 732 is executed by the processor 720, it can cause the processor 720 to execute the camera optical axis calibration method.

[0094] The network interface 750 is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 3 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the camera 700 to which the solution of this application is applied. The specific camera 700 may include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement. Among them, the processor 720 is used to run the program code stored in the memory to implement the camera optical axis calibration method.

[0095] Those skilled in the art can understand that Figure 3 the embodiments of the camera shown in do not constitute a limitation on the specific composition of the computer device. In other embodiments, the camera may include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement. For example, in some embodiments, the camera may only include a memory and a processor. In such an embodiment, the structure and function of the memory and the processor are the same as those in Figure 3 the shown embodiment and will not be elaborated here.

[0096] It should be understood that in the embodiments of the present application, the processor 720 may be a central processing unit (CPU), and the processor 720 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0097] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the camera optical axis calibration method disclosed in the embodiments of the present invention is implemented.

[0098] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described devices, apparatuses, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again. Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0099] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. Units with the same function can also be aggregated into a single unit. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed couplings, direct couplings, or communication connections to each other may be indirect couplings or communication connections through some interfaces, devices, or units, and may also be electrical, mechanical, or other forms of connection.

[0100] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.

[0101] In addition, each functional unit in various embodiments of the present invention may be integrated into a processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0102] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes.

[0103] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for calibrating the optical axis of a camera, wherein the camera is integrated with a visible light lens, a thermal imaging lens and a laser lighting lamp, characterized in that: include: Set the camera's visible light day and night switching mode to day mode; Adjust the thermal imaging image output by the thermal imaging lens so that the center of the thermal imaging image is aligned with the target position of the photographed object; When the center of the thermal imaging image is aligned with the target position of the photographed object, the visible light image output by the visible light lens is adjusted so that the center of the visible light image is aligned within the target range of the photographed object; When the center of the visible light image is aligned within the target range of the photographed object, the visible light day and night switching mode of the camera is set to night mode; Marking regions of images obtained by photographing a target object using a visible light lens; Adjust the laser lighting lamp so that the bright area formed by the laser lighting lamp is within the target range defined by the area mark.

2. The camera optical axis calibration method according to claim 1, characterized in that: The photographed object is a target-shaped pattern, and the target-shaped pattern mark includes a cross mark located at the center of the target-shaped pattern and an inner circle mark extending outward from the center of the target-shaped pattern.

3. The camera optical axis calibration method according to claim 2, characterized in that: The target position is a cross mark at the center of the target pattern.

4. The camera optical axis calibration method according to claim 2, characterized in that: The target range is the range defined by the inner circle mark.

5. The camera optical axis calibration method according to claim 1, characterized in that: The area mark includes a ruler and a judgment circle.

6. The camera optical axis calibration method according to claim 5, characterized in that: The step of marking a region of an image obtained by photographing a target object using a visible light lens comprises: Driving the visible light lens zoom to a predetermined position; On an image obtained by zooming the visible light lens to a predetermined position to photograph a target object, scale lines are drawn in four directions, namely, up, down, left, and right, respectively, and the scale lines in the up, down, and left, and right directions are symmetrically arranged along a common center; Draw a judgment circle with a specified radius using the common center as the origin.

7. The camera optical axis calibration method according to claim 6, characterized in that: The step of adjusting the laser lighting lamp so that the light area formed by the laser lighting lamp is within the target range defined by the area mark includes: Adjust the laser lighting lamp so that the edge of the bright area formed by the laser lighting lamp is symmetrical on the left and right and is located within the judgment circle as a whole.

8. A camera optical axis calibration device, wherein the camera is integrated with a visible light lens, a thermal imaging lens and a laser lighting lamp, characterized in that: include: A first switching unit, used to set the visible light day and night switching mode of the camera to a day mode; A first adjustment unit, used for adjusting the thermal imaging picture output by the thermal imaging lens so that the center of the thermal imaging picture is aligned with the target position of the photographed object; A second adjustment unit is used to adjust the visible light image output by the visible light lens after the center of the thermal imaging image is aligned with the target position of the photographed object, so that the center of the visible light image is aligned within the target range of the photographed object; A second switching unit is used to set the visible light day and night switching mode of the camera to a night mode when the center of the visible light picture is aligned within the target range of the photographed object; A marking unit, used for marking a region of an image obtained by photographing a target object using a visible light lens; The third switching unit is used to adjust the laser lighting lamp so that the bright area formed by the laser lighting lamp is within the target range defined by the area mark.

9. A camera, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the camera optical axis calibration method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the camera optical axis calibration method according to any one of claims 1 to 7.

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