Optical positioning configuration method and apparatus, electronic device, computer storage medium and computer program product

Abstract

Embodiments of the present application provide an optical positioning configuration method, device, electronic equipment, computer storage medium and computer program product. The optical positioning configuration method comprises: determining a simulation position of at least one object in an optical positioning site, wherein a camera array for performing optical positioning in the optical positioning site is arranged in the optical positioning site; performing spatial matching of a simulation pose parameter of the camera array and the optical positioning site, and determining an occlusion orientation relationship between a collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object according to a matching result; adjusting the simulation pose parameter of the camera array according to the occlusion orientation relationship, so that a proportion of a field of view blind area in which the collection field of view of the camera array is occluded by the at least one object is less than a preset threshold; and performing parameter configuration on the camera array according to the adjusted simulation pose parameter.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computer technology, and in particular, to an optical positioning configuration method and device, electronic equipment, computer storage medium and computer program product. BACKGROUND

[0002] Generally, optical positioning configuration refers to using a relatively fixed site space as an optical positioning site, and through optical positioning equipment such as a camera and related technical means, the camera array is accurately configured according to the objects in the optical positioning site, so that subsequent positioning, tracking, measurement and other operations on the positioning target in the optical positioning scene can be accurately performed.

[0003] In the traditional configuration process, a professional analyzes the object distribution in the optical positioning site and the positioning of the camera, systematically adjusts the camera's collection field of view, and after the adjustment is completed, uses professional positioning components to move in the optical positioning site and repeatedly checks the camera's collection field of view after adjustment through observation. However, the traditional method has the problems of low efficiency of manual configuration process and poor configuration accuracy. SUMMARY

[0004] Therefore, embodiments of the present application provide an optical positioning configuration method, device, electronic equipment, computer storage medium and computer program product to solve the above problems.

[0005] According to a first aspect of embodiments of the present application, an optical positioning configuration method is provided, comprising: determining a simulation position of at least one object in an optical positioning site, wherein a camera array for performing optical positioning in the optical positioning site is arranged in the optical positioning site; performing spatial matching of simulation pose parameters of the camera array and the optical positioning site, and according to the matching result, determining an occlusion orientation relationship between a collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object; according to the occlusion orientation relationship, adjusting the simulation pose parameters of the camera array, so that the proportion of the field of view blind area of the collection field of view of the camera array occluded by the at least one object is less than a preset threshold; and performing parameter configuration on the camera array according to the adjusted simulation pose parameters.

[0006] According to a second aspect of the present invention, an optical positioning configuration device is provided, comprising: a determining module for determining a simulated position of at least one object in an optical positioning field, wherein a camera array for performing optical positioning in the optical positioning field is arranged therein; a matching module for spatially matching the simulated pose parameters of the camera array with the optical positioning field, and determining, based on the matching result, an occlusion orientation relationship between the field of view acquired by the camera array in the optical positioning field and the simulated position of the at least one object; an adjusting module for adjusting the simulated pose parameters of the camera array according to the occlusion orientation relationship, such that the proportion of the blind spot in the field of view acquired by the camera array that is occluded by the at least one object is less than a preset threshold; and a configuring module for configuring the parameters of the camera array according to the adjusted simulated pose parameters.

[0007] According to a third aspect of the present invention, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to perform the method as described in the first aspect.

[0008] According to a fourth aspect of the present invention, a computer storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0009] According to a fifth aspect of the present invention, a computer program product is provided, including computer instructions that, when executed by a processor, implement the method as described in the first aspect.

[0010] In the embodiment of this invention, simulation data processing is used to spatially match the simulated pose parameters of the camera array with the optical positioning site. Based on the matching results, the occlusion orientation relationship between the camera array's field of view in the optical positioning site and the simulated position of at least one object can be determined. This accurately identifies the complex orientation relationships affecting the blind spots of the camera array's field of view. Furthermore, based on the occlusion orientation relationship, the simulated pose parameters of the camera array are adjusted so that the proportion of the blind spots obscured by at least one object is less than a preset threshold. The simulated pose parameters of the camera array are adjusted using the precise quantitative relationship between the blind spot proportion and the simulated pose parameters. Therefore, based on the adjusted simulated pose parameters, the camera array is configured so that the configured camera array can accurately perform optical positioning of targets in the optical positioning site. Since the above data processing is performed through simulation data processing, the efficiency of the parameter configuration process is improved while ensuring the accuracy of the parameter configuration. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art based on these drawings.

[0012] Figure 1 Spatial arrangement diagram of an optical positioning site according to some examples.

[0013] Figure 2 Step flow chart of an optical positioning configuration method according to some embodiments of the present application.

[0014] Figure 3 Spatial sampling point and camera field of view blind area relationship diagram according to embodiments of the present application. Figure 2

[0015] Figure 4 Step flow chart of an optical positioning configuration method according to some examples of the embodiments. Figure 2

[0016] Structure block diagram of an optical positioning configuration apparatus according to some other embodiments of the present application. Figure 5

[0017] Structure schematic diagram of an electronic device according to some other embodiments of the present application. Figure 6 DETAILED DESCRIPTION

[0018] In order to make the technical solutions in the embodiments of the present application better understood, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those skilled in the art should belong to the scope of protection of the embodiments of the present application.

[0019] The specific implementation of the embodiments of the present application will be further described below with reference to the drawings of the embodiments of the present application.

[0020] Figure 1 Spatial arrangement diagram of an optical positioning site according to some examples. Figure 1 ​​The spatial arrangement of the optical positioning site 100 includes a camera array 10. In the case of the optical positioning site 100 being an indoor site, the camera array 10 can be arranged on the peripheral walls or the ceiling of the indoor site. In the case of the optical positioning site 100 being an outdoor site, the camera array 10 can be arranged on a camera array support of the outdoor site. As shown in FIG. 1, Figure 1 The camera array 10 includes a camera 11, a camera 12, a camera 13, a camera 14, and a camera 15. The cameras in the camera array 10 can be arranged at uniform intervals. Alternatively, the cameras can be arranged at non-uniform intervals. The area in front of the dashed line leading from each camera represents the capture field of view of the camera.

[0021] Further, there can be objects 20 in the optical positioning site 100 that block the capture field of view of the cameras, and there can be spatial positions in the optical positioning site 100 that cannot be captured by any camera or cannot be captured by a sufficient number of cameras, which can affect the performance of positioning, tracking, measurement, and other operations on positioning targets in the optical positioning scene. In the example of FIG. 1, Figure 1 The objects 20 can include an object 21, an object 22, an object 23, and an object 24. For example, the object 21 is within the capture field of view of the camera 11 and the camera 12, the object 22 is within the capture field of view of the camera 14, the object 23 is within the capture field of view of the camera 14 and the camera 15, and the object 24 is within the capture field of view of the camera 15. By analyzing the distribution of the objects 20 in the optical positioning site 100 and the positioning of the camera array 10 by a professional, the capture field of view of each camera in the camera array 10 can be systematically adjusted. However, the manual configuration process is inefficient and has poor configuration accuracy. Therefore, various embodiments of the present application can improve the efficiency of the parameter configuration process while ensuring the accuracy of the parameter configuration.

[0022] Specifically, Figure 2 A flowchart of the steps of the optical positioning configuration method according to some embodiments of the present application. Figure 2 The optical positioning configuration method is executed by an electronic device with three-dimensional data processing capability, such as a three-dimensional simulation platform. The optical positioning configuration method includes:

[0023] S210: determining a simulation position of at least one object in an optical positioning site, wherein a camera array for performing optical positioning in the optical positioning site is arranged in the optical positioning site.

[0024] It should be understood that the camera array can be arranged at any position in the optical positioning site. Camera arrays arranged in different ways have different capture fields of view. The camera array captures images of positioning targets in the optical positioning site within its capture field of view to achieve optical positioning.

[0025] It should also be understood that the at least one object can be identified in the optical positioning site, and a simulation position of the at least one object can be determined. The at least one object can form an occlusion to the collection field of view of the camera array, the simulation position of the object can be determined by a three-dimensional data processing environment such as a three-dimensional simulation platform, and the camera array can be parameter configured according to the simulation position. The simulation position can be a position in a coordinate system of the optical positioning scene.

[0026] S220: The simulation pose parameters of the camera array are spatially matched with the optical positioning site, and according to the matching result, an occlusion orientation relationship between the collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object is determined.

[0027] It should be understood that the object herein includes but is not limited to a real object existing in the optical positioning site, and in a virtual shooting or video special effect scene, the real object includes but is not limited to a prop or a physical model, etc. In addition, the simulation pose parameters of the camera array include the position (for example, a translation vector) and the direction (for example, a rotation matrix) of the camera, which define the position and the orientation of the camera in a coordinate system of the camera array. In addition, the simulation pose parameters of the camera array are spatially matched with the optical positioning site, that is, the position and the orientation of the camera array in the coordinate system of the camera array are mapped into the coordinate system of the optical positioning scene, which is consistent with the coordinate system of the simulation position of the object, so that the occlusion orientation relationship indicating whether the collection field of view of the camera is occluded by the object can be checked according to the matching result, resulting in a field of view blind area of the camera array.

[0028] S230: According to the occlusion orientation relationship, the simulation pose parameters of the camera array are adjusted, so that the proportion of the field of view blind area of the camera array occluded by the at least one object is less than a preset threshold.

[0029] It should be understood that when adjusting the simulation pose parameters, the simulation pose parameters of the camera array can be adjusted according to the occlusion orientation relationship to reduce or eliminate the blind area of the field of view, for example, the debugging operation includes but is not limited to changing the position parameter in the extrinsic parameter of the mobile camera, changing the orientation parameter in the extrinsic parameter of the camera, or adjusting the internal parameter (for example, focal length) of the camera, etc. In addition, the blind area ratio can accurately quantify and characterize the state of the blind area of the field of view of the optical positioning site, and the blind area ratio can indicate the proportion of the area of the blind area of the field of view that cannot be captured by the camera array to the area of the optical positioning site. For example, if the blind area ratio is less than a preset threshold (for example, 10% or 5%, etc.), it can be considered that the optical positioning site has no blind area of the field of view, that is, the blind area of the field of view can be reduced or eliminated by reducing the blind area ratio, for example, the blind area ratio of the captured field of view of the adjusted camera array can be calculated first, and if the ratio is greater than the preset threshold, the pose parameters of the camera need to be further adjusted until the blind area ratio is less than the preset threshold. The way of calculating the blind area ratio based on the sampling points is described below, and those skilled in the art should understand that the blind area ratio can also be calculated based on other ways as long as it can reflect the proportion of the area of the blind area of the field of view that cannot be captured by the camera array to the area of the optical positioning site.

[0030] S240: Parameter configuration is performed on the camera array according to the adjusted simulation pose parameters.

[0031] It should be understood that when the camera array is parameter configured using the adjusted simulation pose parameters, the position parameter (for example, translation vector) and the orientation parameter (for example, rotation matrix) of each camera indicated by the adjusted simulation pose parameters can be used to parameter configure the extrinsic parameter of the corresponding camera while keeping the internal parameter of each camera.

[0032] In the scheme of the embodiments of the present application, the simulation pose parameters of the camera array can be matched with the optical positioning site through simulation data processing, and then the occlusion orientation relationship between the captured field of view of the camera array and the simulation position of the at least one object in the optical positioning site can be determined according to the matching result, and the complex orientation relationship affecting the blind area of the captured field of view of the camera array is accurately determined. In addition, according to the occlusion orientation relationship, the simulation pose parameters of the camera array are adjusted so that the blind area ratio of the captured field of view of the camera array that is blocked by the at least one object is less than a preset threshold. The simulation pose parameters of the camera array are adjusted through the accurate quantitative relationship between the blind area ratio and the simulation pose parameters of the camera array. Therefore, the camera array is parameter configured according to the adjusted simulation pose parameters, so that the configured camera array can accurately perform optical positioning on the target in the optical positioning site. Since the above data processing is performed through simulation data processing, the accuracy of the parameter configuration is ensured, and the efficiency of the configuration process is improved.

[0033] In some embodiments, the pose parameters of the cameras of the camera array can be acquired, a spatial matching relationship between the pose parameters of the cameras, the positions of the plurality of sampling points in the space of the optical positioning scene, and the position of the at least one object that can cause occlusion is established by the arrangement orientation of the camera array in the optical positioning scene, for example, a common coordinate system (e.g., a world coordinate system) is established based on the optical positioning scene, and the pose parameters of the cameras are mapped to the common coordinate system, so that the pose of the cameras and the orientation relationship between each object and each sampling point in the optical positioning scene are established, so as to accurately determine the visual blind area of each sampling point by each camera.

[0034] In order to determine the position of the at least one object that can cause occlusion in the optical positioning scene, three-dimensional image data of the optical positioning site can be acquired, and the three-dimensional image data is preprocessed to identify the position of the at least one object that can cause occlusion in the optical positioning site.

[0035] In some examples, three-dimensional image data of the optical positioning site can be acquired, and the three-dimensional image data is represented by a surface mesh, that is, the optical positioning site has relatively complex position characteristics and shape characteristics, which can be more reliably reflected by the three-dimensional image data, avoiding the loss of feature information and causing large errors in parameter configuration. Then, feature recognition is performed on the surface mesh representation to obtain the at least one object in the optical positioning site, and the identified position of the at least one object is marked as a simulation position. That is, the three-dimensional image data is represented by a surface mesh, which is beneficial to improving the data processing efficiency while preserving the position characteristics and shape characteristics of the optical positioning site, that is, the at least one object that can occlude the visual blind area of the camera array can be efficiently identified by performing feature recognition on the surface mesh representation.

[0036] It should be understood that the above-mentioned spatial matching process can be performed by importing the pose parameters of the cameras of the camera array and the simulation position of the at least one object into a three-dimensional data processing environment such as a three-dimensional simulation platform. The process of determining the simulation position of the at least one object in the optical positioning scene can be performed in a three-dimensional data processing environment such as a three-dimensional simulation platform, or the position of the at least one object in the optical positioning scene can be obtained by pre-processing, and the simulation position of the at least one object is marked in the optical positioning site and then imported into a three-dimensional data processing environment such as a three-dimensional simulation platform.

[0037] Further, in other embodiments, in order to accurately determine the visual blind area of each sampling point by each camera in the simulation environment, whether each sampling point is in the visual blind area of each camera can be determined one by one according to the spatial matching relationship after spatial sampling of the optical positioning scene.

[0038] In order to adjust the simulation pose parameters of the camera array according to the occlusion azimuth relationship, so that the proportion of the visual blind area of the collection field of view of the camera array blocked by the at least one object is less than a preset threshold, it can be determined that the occlusion azimuth relationship indicates the proportion of the visual blind area of the collection field of view of the camera array blocked by the at least one object, and when the proportion of the visual blind area of the camera array is greater than the preset threshold, the position parameters of each camera in the camera array are kept while the orientation parameters of at least part of the cameras are adjusted to adjust the occlusion azimuth relationship, and then when the proportion of the visual blind area of the camera array is less than the preset threshold after the orientation parameters of at least part of the cameras are adjusted, the adjusted simulation pose parameters are output.

[0039] That is, the orientation parameters are adjusted while the position parameters of each camera in the camera array are kept, which is beneficial to accurately determining the internal factors affecting the proportion of the visual blind area when the orientation parameters are adjusted, so that the target of the proportion of the visual blind area is achieved with as few cameras as possible. When the occlusion azimuth relationship indicates that the proportion of the visual blind area of the collection field of view of the camera array is less than the preset threshold, it means that the target of the proportion of the visual blind area is achieved only by adjusting the orientation parameters, and therefore the adjusted simulation pose parameters can be directly output to configure the parameters of the camera array. Those skilled in the art should understand that the simulation pose parameters of the camera array can also be adjusted in other ways, for example, the position parameters and the orientation parameters can be adjusted at the same time. In addition, for the case where the proportion of the visual blind area is equal to the preset threshold, it can be considered as having reached the adjustment target according to needs, or the needs of the proportion of the visual blind area have been met, or it is considered as needing further adjustment.

[0040] Specifically, as the occlusion azimuth relationship indicates that the proportion of the visual blind area of the collection field of view of the camera array blocked by the at least one object, the spatial positions of the optical positioning site can be sampled to obtain a plurality of sampling points, and then whether each sampling point is in the visual blind area of the camera array is determined according to the occlusion azimuth relationship, and then the proportion between the number of the sampling points in the visual blind area of the camera array and the number of the plurality of sampling points is determined as the proportion of the visual blind area of the collection field of view of the camera array.

[0041] That is, the proportion of the visual blind area depends on the proportion of the sampling points in the visual blind area of the camera array, and by sampling the spatial positions of the optical positioning site with a given sampling accuracy, the calculation efficiency of the proportion of the visual blind area can be improved to some extent. Generally, as the sampling accuracy becomes higher, the obtained proportion of the visual blind area can represent more accurate visual blind area conditions, and as the sampling accuracy becomes lower, the calculation efficiency of the proportion of the visual blind area can be more significantly improved.

[0042] Next, an exemplary description will be given to determine whether each sampling point is in the blind area of the field of view of the camera array. In some examples, if a sampling point is occluded in the collection field of view of more than a preset number of cameras, it is determined that the sampling point is in the blind area of the field of view of the camera array. In general, the preset number can be an empirical preset value or value range. For example, the lower limit value of the preset number can be zero, in which case, if there is a sampling point occluded in the collection field of view of any camera, it can be considered that the sampling point is in the blind area of the field of view of the camera array. For another example, the upper limit value of the preset number can be the difference between the total number of cameras in the camera array and 1, in which case, if a sampling point is occluded in the collection field of view of all cameras, it is considered that the sampling point is in the blind area of the field of view of the camera array. For another example, the preset number can be a value between the lower limit value and the upper limit value described above. The smaller the preset number, the more stringent the condition for determining that the sampling point is in the blind area of the field of view of the camera array, and the higher the reliability of the camera array configured with the parameters in performing optical positioning on the target in the optical positioning site. Conversely, the larger the preset number, the looser the condition for determining that the sampling point is in the blind area of the field of view of the camera array, and the lower the requirement for the number of cameras in the camera array, and the lower the cost of performing optical positioning on the target in the optical positioning site.

[0043] Further, in other examples, when determining whether each sampling point is occluded in the collection field of view of each camera in the camera array, the purpose is to determine whether the sampling point is visible in the collection field of view of the camera. Specifically, each camera has a certain collection angle for a given internal parameter, and the collection field of view can be a conical space defined by the collection angle. If a sampling point is not within the collection angle of the camera, the sampling point is not visible in the collection field of view of the camera. If a sampling point is within the collection angle of the camera, but the sampling point is occluded by at least one object, resulting in the sampling point being unable to be captured and collected in the collection field of view of the camera, the sampling point is not visible in the collection field of view of the camera.

[0044] It should be understood that according to the spatial matching result between the camera array and the optical positioning site, the spatial positional relationship between the sampling point, the camera with the collection angle, and the at least one object can be determined when the sampling point is within the collection angle of the camera, and according to the spatial positional relationship described above, it is determined whether the sampling point is occluded by the at least one object. For example, a virtual line between the sampling point and the at least one object passes through a camera, and the sampling point is occluded by the at least one object. For another example, a virtual line between the sampling point and the camera passes through the simulated position of the at least one object, and the sampling point is occluded by the at least one object.

[0045] Without loss of generality, as an example of judging whether each sampling point is occluded in the collection field of view of each camera in the camera array, it can be first judged whether each sampling point is in the collection field of view of each camera in the camera array, and if a sampling point is in the collection field of view of a camera and a virtual line between the sampling point and the camera passes through the simulation position of at least one object, it is determined that the sampling point is occluded in the collection field of view of the camera. Alternatively, in addition to the blind area of the field of view caused by being occluded by the object, the blind area of the field of view outside the collection field of view of the camera itself can also be considered, so if a sampling point is not in the collection field of view of a camera, it can be directly determined that the sampling point is occluded in the collection field of view of the camera.

[0046] Alternatively, when adjusting the simulation pose parameters of the camera array according to the occlusion orientation relationship, if the proportion of the blind area of the field of view of the camera array is greater than a preset threshold after the orientation parameters of at least part of the cameras are adjusted, at least one camera can be additionally arranged in the camera array, and the camera array is updated.

[0047] The condition for adding a camera can be that the adjustment of the pose parameters of the current camera array has reached the condition for ending the adjustment, that is, for the current number of cameras, it is impossible to achieve the requirement of the proportion of the blind area of the field of view by adjusting the pose parameters. The condition for ending the adjustment can be set as needed, for example, the adjustment of the preset number of times and the preset mode has been performed for at least part of the cameras in the current camera array, but the proportion of the blind area of the field of view is still greater than the preset threshold. Specifically, at least one camera can be added at the remaining positions of the camera array, so that the at least one camera and each camera already arranged in the camera array form a dispersed distribution, so as to make the proportion of the blind area of the field of view greater than the preset threshold by increasing the number of cameras as little as possible. For example, at least one camera can be arranged in the camera array based on the initial position information and the initial attitude information. Exemplarily, the initial position information of the at least one camera can indicate that the sum of the squares of the distances between the position of the at least one camera and the position of each camera already arranged is maximum, and the initial attitude information of the at least one camera can indicate that the random orientation parameter of the at least one camera.

[0048] That is, when the occlusion orientation relationship indicates that the proportion of the blind area of the field of view of the collection field of view of the camera array is greater than the preset threshold, it indicates that the target of the proportion of the blind area of the field of view cannot be achieved only by adjusting the orientation parameter, and the number of cameras in the camera array needs to be increased to further reduce the proportion of the blind area of the field of view.

[0049] Further, when adjusting the simulation pose parameters of the camera array according to the occlusion orientation relationship, if it is determined that the field-of-view blind area proportion of the camera array is greater than a preset threshold, the orientation parameters of at least part of the cameras can be adjusted while the position parameters of the cameras in the camera array are maintained, and the variation of the field-of-view blind area proportion of the camera array is determined after the adjustment.

[0050] In some examples, as a specific implementation manner of adjusting the orientation parameters of at least part of the cameras, a current part of the cameras (for example, 10 cameras) can be selected from the cameras in the camera array first, the orientation parameters of the current part of the cameras are adjusted, then it is judged whether the field-of-view blind area proportion is reduced after the orientation parameters of the current part of the cameras are adjusted, if the field-of-view blind area proportion of the camera array is reduced, the orientation parameters of the current part of the cameras are maintained while part of the cameras in the remaining cameras (for example, another 10 cameras) are taken as updated current part of the cameras to adjust the orientation parameters of the updated current part of the cameras. That is, when the variation of the field-of-view blind area proportion of the camera array is reduced, the value of the field-of-view blind area proportion is in a converging stage in the process of adjusting the orientation parameters of the cameras in the camera array, and the beneficial optimization of the orientation parameters of the cameras is maintained.

[0051] Alternatively, if the field-of-view blind area proportion of the camera array is increased after the orientation parameters of the current part of the cameras are adjusted, the orientation parameters of the current part of the cameras are restored to those before the adjustment, and part of the cameras in the remaining cameras are taken as updated current part of the cameras to adjust the orientation parameters of the updated current part of the cameras. That is, when the variation of the field-of-view blind area proportion of the camera array is increased, the value of the field-of-view blind area proportion is not in a converging stage in the process of adjusting the orientation parameters of the cameras in the camera array, and the adjustment result is abandoned to avoid the deterioration of the orientation parameters of the cameras.

[0052] That is, in the case of reducing the field-of-view blind area by adjusting the orientation parameters of the cameras, there is a problem of how to optimize the orientation parameters of the cameras. The current part of the cameras is selected from the cameras in turn, and part of the cameras in the remaining cameras is taken as updated current part of the cameras when the field-of-view blind area proportion is reduced, which can iteratively adjust the orientation parameters and improve the marginal effect of the orientation parameters on the field-of-view blind area, that is, the optimized configuration of the orientation parameters of the cameras is realized when the field-of-view blind area proportion converges to a relatively small value.

[0053] Further, in adjusting the orientation parameter of the current partial camera, a plurality of manners can be adopted as needed until a condition for ending the adjustment is reached. For example, a single adjustment can be performed on the current partial camera with a preset orientation angle, or a plurality of iterative adjustments can be performed on the current partial camera. Accordingly, in performing a plurality of iterative adjustments on the current partial camera, before performing the current adjustment on the current partial camera, the orientation angle of the last adjustment is increased by a preset angle step, and then the current adjustment is performed on the current partial camera. It should be understood that the preset angle step is used as a vector reference in the plurality of iterative adjustments, and the value of the preset angle step can be a value preset according to experience or a random value, and the direction of the preset angle step can be any preset direction or a random direction in the coordinate system of the external parameters of the camera.

[0054] Without loss of generality, in the plurality of adjustments of the orientation parameter of the current partial camera with the preset angle step, if the field-of-view blind area ratio decreases after the orientation parameter of the current partial camera is adjusted in the current adjustment, the next adjustment of the orientation parameter of the current partial camera is performed until a condition for ending the adjustment is reached (for example, the adjustment of the current partial camera reaches a preset number of times, or the field-of-view blind area ratio is lower than a threshold value), the orientation parameter of the current partial camera can be maintained, and if the field-of-view blind area ratio does not decrease after the orientation parameter of the current partial camera is adjusted in the current adjustment, it can be considered that the condition for ending the iteration has been reached, and the orientation parameter of the current partial camera can be restored to that before the current adjustment. It should be understood by those skilled in the art that the manner of adjusting the orientation parameter of the current partial camera and the condition for ending the adjustment are not limited to the above.

[0055] That is, in the process of iteration of different partial cameras, the orientation parameter is adjusted with a preset angle step, which can further improve the convergence accuracy of the field-of-view blind area and further optimize the configuration of the orientation parameters of each camera of the camera array.

[0056] It should be understood by those skilled in the art that the manner of adjusting the simulation pose parameters of the camera array is not limited to the above manner, for example, the selected all or part of the cameras in the camera array can be adjusted as a whole in a preset adjustment manner, such as but not limited to randomly changing the orientation parameters of each camera, or changing the orientation parameters of each camera with a preset angle step and a preset direction, until a condition for stopping the adjustment is reached.

[0057] Specifically, as Figure 3The optical positioning site after spatial sampling is shown, resulting in multiple sampling points formed by dashed grids. Sampling points A, B, and C are exemplary sampling points. For camera 310 in the camera array, the area between the two dashed lines extending from camera 310 represents the field of view of camera 310, and the viewing angle of the field of view of camera 310 is determined by the internal parameters of camera 310. Figure 3 In the example, object 321 is within the field of view of camera 310, while object 322 is not within the field of view of camera 310.

[0058] In other words, when determining whether a sampling point is within the field of view of a camera, it is not necessary to consider the simulated position of at least one object. Since the camera itself has internal and external parameters, which indicate the camera's field of view, sampling points that do not meet the internal and external parameters will not appear in the camera's field of view even if they are not obstructed by objects.

[0059] For sampling points that satisfy both internal and external parameters, it can be further confirmed whether the sampling point is occluded by an object. Therefore, whether a sampling point is within the field of view of a camera is determined by establishing a virtual connection between the sampling point and the camera to determine whether the sampling point is occluded in the field of view of the camera, thus reliably determining whether the sampling point has an impact on the blind spot of the field of view.

[0060] For example, in Figure 3 In the example, the virtual connection between sampling point A and camera 310 passes through object 321. Sampling point A affects the blind spot of camera 310, and consequently, the blind spot of the camera array. As another example, the virtual connection between sampling point B and camera 310 does not pass through object 321. Sampling point B does not affect the blind spot of camera 310, and consequently, the blind spot of the camera array. As yet another example, sampling point C is not within the field of view of camera 310, and therefore does not affect the blind spot of camera 310. Furthermore, sampling point C may be within the field of view of a camera other than camera 310 in the camera array, potentially affecting the blind spot of the camera array, depending on whether the connection between sampling point C and other cameras passes through object 322.

[0061] Alternatively, for sampling points that do not meet the internal and external parameters, they will not appear in the camera's field of view even if they are not occluded by objects. In this case, if a sampling point is not in the field of view of a camera, it is determined that the sampling point is occluded in the field of view of that camera.

[0062] The following will combine Figure 4 describe Figure 2An optical positioning configuration process of some examples of embodiments. Figure 4 An optical positioning configuration process of some examples of embodiments includes:

[0063] Step S410: Obtain three-dimensional image data of the optical positioning site, and perform surface mesh representation on the three-dimensional image data, and proceed to Step S420. For example, the three-dimensional image data of the optical positioning site can be obtained using a camera array or other three-dimensional scanning device, and the three-dimensional image data includes but is not limited to point cloud data, depth image data, etc. For another example, when converting the three-dimensional image data into a surface mesh representation, a continuous surface model can be formed by fitting the point cloud data into a mesh grid such as a triangular mesh or a polygonal mesh.

[0064] Step S420: Perform feature recognition on the surface mesh representation, and mark a simulated position of at least one object, and proceed to Step S450. For example, the specific features identified in the surface mesh representation include but are not limited to edges, corner points or specific marker points of the object. In addition, the position of the object can be determined according to the identified specific features, and the position of the specific features is marked as the simulated position in the three-dimensional data processing environment.

[0065] Step S430: Sample the spatial position of the optical positioning site to obtain a plurality of sampling points, and proceed to Step S440. For example, a mathematical model of the optical positioning site can be created (e.g., containing the size, contour shape, etc. of the site), and a plurality of sampling points can be selected uniformly or randomly in the optical positioning site to improve data processing efficiency while effectively evaluating the field of view coverage and occlusion of the camera array. As an example of uniformly selecting a plurality of sampling points, a three-dimensional grid can be divided within the simulated space of the optical positioning site, and spatial sampling can be performed so that the boundary points of each three-dimensional grid become sampling points.

[0066] Step S440: Determine the sampling points that are occluded in the collection field of view of each camera, and proceed to Step S450. For example, for each sampling point, it is checked whether the sampling point is occluded in the collection field of view of each camera to obtain an occlusion orientation relationship. Specifically, it can be determined which sampling points are occluded by the object through ray tracing or geometric analysis.

[0067] Step S450: Determine that the sampling point is in the blind area of the camera array if the sampling point is blocked in the field of view of more than the preset number of cameras, and continue to perform step S460. For example, if a sampling point is blocked in the field of view of more than the preset number of cameras, it is determined that the sampling point is in the blind area of the camera array. The preset number can be determined according to the specific application requirements and site layout, for example, the preset number of cameras is one camera or two cameras. For another example, if a sampling point does not appear in the field of view of more than the preset number of cameras, the sampling point is also in the blind area of the camera array.

[0068] Step S460: Determine whether the blind area proportion of the field of view of the camera array is less than a preset threshold? If yes, perform step S480; if no, perform step S470. In step S470, multiple iterative adjustments can be performed on the current partial camera, and before each adjustment of the current partial camera, the preset angle step is added to the last adjustment angle to perform the current adjustment on the current partial camera.

[0069] Step S470: Adjust the orientation parameter of at least part of the cameras, and determine whether the blind area proportion of the camera array is less than the preset threshold after the orientation parameter of at least part of the cameras is adjusted? If yes, continue to perform step S480; if no, continue to perform step S490. That is, in step S470, the position parameters of each camera in the camera array can be maintained while the orientation parameters of at least part of the cameras are adjusted to adjust the blocking orientation relationship, and it is determined whether the blind area proportion of the camera array is less than the preset threshold after the orientation parameters of at least part of the cameras are adjusted.

[0070] Step S480: Output the adjusted simulation pose parameter. For example, the orientation parameter that makes the blind area proportion less than the preset threshold can be output corresponding to the camera identifier to configure the corresponding camera with the adjusted orientation parameter, or alternatively, the adjusted orientation parameter of the camera can be stored in association with the camera identifier.

[0071] Step S490: Add at least one camera in the camera array, and continue to perform step S440. In step S490, if the blind area proportion is still greater than the preset threshold, at least one camera (for example, one camera) is added in the camera array to improve the field of view coverage and reduce the blind area. It should be understood that the initial position information and the initial attitude information of the added at least one camera in the camera array can be as described above.

[0072] The optical positioning configuration device according to the embodiments of the present application will be described below in combination with Figure 5 The optical positioning configuration device according to the embodiments of the present application will be described below in combination with Figure 5 The optical positioning configuration device according to the embodiments of the present application will be described below in combination with Figure 2The optical positioning configuration method corresponds to the optical positioning configuration method, comprising:

[0073] The determination module 510 determines the simulation position of at least one object in the optical positioning site, wherein the camera array for performing optical positioning in the optical positioning site is arranged in the optical positioning site;

[0074] The matching module 520 spatially matches the simulation pose parameters of the camera array and the optical positioning site, and according to the matching result, determines the occlusion orientation relationship between the collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object;

[0075] The adjustment module 530 adjusts the simulation pose parameters of the camera array according to the occlusion orientation relationship, so that the proportion of the field of view blind area of the collection field of view of the camera array blocked by the at least one object is less than a preset threshold;

[0076] The configuration module 540 performs parameter configuration on the camera array according to the adjusted simulation pose parameters.

[0077] In the scheme of the embodiment of the application, the simulation pose parameters of the camera array and the optical positioning site can be spatially matched through simulation data processing, and then the occlusion orientation relationship between the collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object can be determined according to the matching result, so that the complex orientation relationship affecting the collection field of view blind area of the camera array is accurately determined. In addition, the simulation pose parameters of the camera array are adjusted according to the occlusion orientation relationship, so that the proportion of the field of view blind area of the collection field of view of the camera array blocked by the at least one object is less than a preset threshold. The simulation pose parameters of the camera array are adjusted through the accurate quantitative relationship between the proportion of the field of view blind area and the simulation pose parameters of the camera array. Therefore, the camera array is parameter configured according to the adjusted simulation pose parameters, so that the configured camera array can accurately perform optical positioning on the target in the optical positioning site. Since the above data processing is performed through simulation data processing, the accuracy of parameter configuration is ensured, and the efficiency of the configuration process is improved.

[0078] For example, in video special effect production, it is necessary to shoot a virtual character with a real scene and an actor, add a physical model of the virtual character for the actor to perform interaction, and the physical model of the virtual character will be replaced by the virtual character in the special effect, but the model of the virtual character needs to be continuously optically positioned during shooting. When the actor performs in the optical positioning site, the actor's movements and positions need to be matched with the virtual character. For example, the actor makes a movement to avoid the attack of the virtual character, and the optical positioning needs to accurately capture the position of the virtual character model so that the attack movement of the virtual character can be reasonably directed at the actor. Due to the obstruction of objects such as props or physical models in the optical positioning site, the shooting camera array may not be able to completely capture the full body movement of the virtual character model. For example, when the virtual character model moves in the optical positioning site, part of it may be obstructed by some props or physical models, resulting in that the complete posture of the virtual object cannot be accurately restored during special effect production. Therefore, after the parameter configuration of the shooting camera array, the visual blind area of the shooting camera array can be significantly reduced.

[0079] Specifically, the optical positioning site is taken as a real scene, and a shooting camera array matched with the space of the optical positioning site tracks and positions a moving target such as a virtual character model, accurately determines the position information and posture information of the moving target in the real scene. In addition, through the coordinate system of the optical positioning scene, the position parameters and posture parameters of the virtual character are determined, and the position and trajectory of the moving target in the real scene are also accurately determined, so that the dynamic interaction relationship and static position relationship between the actor and the virtual character can be accurately presented in the video special effect, and the virtual character can be realistically integrated into the shooting picture of the shooting camera array. By using the optical positioning configuration method of the embodiment of the present application, the spatial matching relationship between the camera array and the optical positioning site, and the occlusion orientation relationship between the camera array collection field of view and objects (for example, props or physical models, including but not limited to natural props such as trees, rocks, and artificial props for enhancing the atmosphere of the scene) in the site are determined through simulation data processing. According to these relationships, the simulation pose parameters of the camera array are adjusted, so that the proportion of the occluded visual blind area is reduced, so that the complete movement of the virtual object when moving can be completely captured, and the problem of visual blind area is solved.

[0080] In addition, in the conventional optical positioning configuration process, the position and posture of the camera array need to be repeatedly adjusted on site, and the optimal configuration scheme is determined through actual shooting tests. This process is time-consuming and labor-intensive, and the accuracy is difficult to guarantee. Because the on-site environment is complex, each adjustment needs to be retested, and is easily affected by various interference factors. The simulation data processing method of the embodiments of the present application can quickly and accurately adjust the simulation posture parameters of the camera array in a virtual environment. The influence of various objects in the field on the camera field of view is simulated through simulation data, and the optimized camera configuration scheme is determined in advance. Then, according to the adjusted simulation posture parameters, the actual camera array is configured. In this way, the accuracy of the parameter configuration is guaranteed, and the efficiency of the configuration process is greatly improved, saving a lot of time and labor cost.

[0081] In some embodiments, the adjusting module is specifically configured to: determine an occlusion orientation relationship indicating a proportion of a field of view blind area of the camera array in which the collection field of view of the camera array is occluded by the at least one object; when the proportion of the field of view blind area of the camera array is greater than a preset threshold, keep the position parameters of each camera in the camera array, and adjust the orientation parameters of at least part of the cameras to adjust the occlusion orientation relationship; and when the proportion of the field of view blind area of the camera array is less than the preset threshold after the orientation parameters of at least part of the cameras are adjusted, output the adjusted simulation posture parameters.

[0082] In some embodiments, the adjusting module is further configured to: when the proportion of the field of view blind area of the camera array is greater than the preset threshold after the orientation parameters of at least part of the cameras are adjusted, add at least one camera in the camera array, and update the camera array.

[0083] In some embodiments, the adjusting module is specifically configured to: determine a proportion of a field of view blind area of the camera array in which the collection field of view of the camera array is occluded by the at least one object; keep the position parameters of each camera in the camera array, and adjust the orientation parameters of a current part of the cameras; if the proportion of the field of view blind area decreases after the orientation parameters of the current part of the cameras are adjusted, keep the orientation parameters of the current part of the cameras, and take part of the remaining cameras as updated current part of the cameras to adjust the orientation parameters of the updated current part of the cameras.

[0084] In some embodiments, the adjusting module is specifically configured to: if the proportion of the field of view blind area increases after the orientation parameters of the current part of the cameras are adjusted, restore the orientation parameters of the current part of the cameras to those before the adjustment, and take part of the remaining cameras as updated current part of the cameras to adjust the orientation parameters of the updated current part of the cameras.

[0085] In some embodiments, the adjusting module is specifically configured to: in the multiple adjustments of the orientation parameter of the current partial camera by the preset angle step, if the proportion of the blind field of view is reduced after the orientation parameter of the current partial camera is adjusted for the current time, perform the next adjustment of the orientation parameter of the current partial camera, and if the proportion of the blind field of view is not reduced after the orientation parameter of the current partial camera is adjusted for the current time, restore the orientation parameter of the current partial camera to that before the current adjustment.

[0086] In some embodiments, the adjusting module is specifically configured to: sample the spatial position of the optical positioning site to obtain multiple sampling points; determine whether each sampling point is in the blind field of view of the camera array according to the occlusion orientation relationship; and determine the proportion between the number of sampling points in the blind field of view of the camera array and the number of the multiple sampling points as the proportion of the blind field of view of the collection field of view of the camera array.

[0087] In some embodiments, the adjusting module is specifically configured to: determine whether each sampling point is occluded in the collection field of view of each camera in the camera array; and if a sampling point is occluded in the collection field of view of more than a preset number of cameras, determine that the sampling point is in the blind field of view of the camera array.

[0088] In some embodiments, the adjusting module is specifically configured to: determine whether each sampling point is in the collection field of view of each camera in the camera array; if a sampling point is in the collection field of view of a camera and a virtual line between the sampling point and the camera passes through the simulation position of at least one object, determine that the sampling point is occluded in the collection field of view of the camera; and if a sampling point is not in the collection field of view of a camera, directly determine that the sampling point is occluded in the collection field of view of the camera.

[0089] In some embodiments, the determining module is specifically configured to: obtain three-dimensional image data of the optical positioning site, and perform surface mesh representation on the three-dimensional image data; perform feature recognition on the surface mesh representation to obtain at least one object in the optical positioning site; and mark the recognized position of the at least one object as the simulation position.

[0090] It should be understood that the specific implementation of each module in the optical positioning configuration device can refer to the corresponding description of the corresponding steps in the embodiments of the optical positioning configuration method, and has corresponding beneficial effects, which will not be described here. It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, the specific working process of the above optical positioning configuration device and module can refer to the corresponding process description in the embodiments of the optical positioning configuration method, which will not be described here.

[0091] Reference Figure 6FIG. 10 shows a structural schematic diagram of an electronic device according to another embodiment of the present application, and the embodiments of the present application do not limit the specific implementation of the electronic device.

[0092] As shown in FIG. 10, the electronic device can include a processor 602 for executing a program 610, a communications interface 604, a memory 606, and a communications bus 608. Figure 6

[0093] The processor, the communications interface, and the memory can communicate with each other through the communications bus.

[0094] The communications interface is configured to communicate with other electronic devices or servers.

[0095] The processor is configured to execute the program, and specifically can execute the related steps in the above method embodiments.

[0096] Specifically, the program can include program code, and the program code includes computer operation instructions.

[0097] The processor can be a CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0098] The memory is configured to store the program. The memory can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory.

[0099] The program can include a plurality of computer instructions, and the program specifically can make the processor execute the optical positioning configuration method described in any of the above method embodiments through the plurality of computer instructions.

[0100] The specific implementation of each step in the program can refer to the corresponding description in the corresponding steps, modules or units in the above method embodiments, and has the corresponding beneficial effects, and will not be described here. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device, equipment or module can refer to the corresponding process description in the above method embodiments, and will not be described here.

[0101] ​The embodiment of the present application further provides a computer storage medium, which stores a computer program, and the program is executed by a processor to realize the method described in any one of the foregoing method embodiments. The computer storage medium includes but is not limited to a compact disc read-only memory (CD-ROM), a random access memory (RAM), a floppy disk, a hard disk or a magneto-optical disk, etc.

[0102] The embodiment of the present application further provides a computer program product, which includes computer instructions, and the computer instructions instruct a computing device to execute the optical positioning configuration method in the foregoing method embodiments.

[0103] In addition, it needs to be noted that the information related to the user (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to sample data used for training the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiment of the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the related data need to comply with relevant regulations and standards, and provide corresponding operation entrances for the user to select authorization or rejection.

[0104] It needs to be pointed out that, according to the needs of implementation, each component / step described in the embodiment of the present application can be split into more components / steps, or two or more components / steps or part of the operation of the components / steps can be combined into a new component / step, to realize the purpose of the embodiment of the present application.

[0105] The above-described methods according to embodiments of the present application can be implemented in hardware, firmware, or software, or any combination thereof, and can be stored in a recording medium such as CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or be downloaded by network from a remote recording medium or non-transitory machine-readable medium originally stored in a local recording medium and then stored in a local recording medium, so that the methods described herein can be stored in a recording medium on which such software processing using a general-purpose computer, a special-purpose processor, or programmable or special-purpose hardware such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA) is performed. It can be understood that the computer, processor, microprocessor controller, or programmable hardware includes a storage component (for example, Random Access Memory (RAM), Read-Only Memory (ROM), flash memory, etc.) that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor, or hardware, the methods described herein are implemented. Furthermore, when a general-purpose computer accesses the code for implementing the methods shown herein, the execution of the code will convert the general-purpose computer into a special-purpose computer for executing the methods shown herein.

[0106] Those skilled in the art can appreciate that the units and method steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present application.

[0107] The above embodiments are only used to illustrate but not limit the embodiments of the present application, and a person of ordinary skill in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, therefore all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the patent protection scope of the embodiments of the present application should be defined by the claims.

Claims

1. An optical positioning configuration method, comprising: determining a simulation position of at least one object in an optical positioning site, wherein a camera array for performing optical positioning in the optical positioning site is arranged in the optical positioning site; spatially matching simulation pose parameters of the camera array with the optical positioning site, and determining, according to a matching result, an occlusion pose relationship between a collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object; adjusting the simulation pose parameters of the camera array according to the occlusion pose relationship, so that a visual field blind area proportion of the collection field of view of the camera array being occluded by the at least one object is less than a preset threshold, wherein the visual field blind area proportion is a proportion between a number of sampling points in a plurality of sampling points obtained by sampling spatial positions of the optical positioning site and a number of sampling points in the visual field blind area of the camera array; configuring parameters of the camera array according to the adjusted simulation pose parameters.

2. The method of claim 1, wherein, The adjusting of the simulation pose parameters of the camera array according to the occlusion pose relationship, so that the visual field blind area proportion of the collection field of view of the camera array being occluded by the at least one object is less than a preset threshold, comprises: determining that the occlusion pose relationship indicates the visual field blind area proportion of the collection field of view of the camera array being occluded by the at least one object; when the visual field blind area proportion of the camera array is greater than the preset threshold, adjusting orientation parameters of at least part of the cameras while keeping position parameters of each camera in the camera array, so as to adjust the occlusion pose relationship; when the visual field blind area proportion of the camera array is less than the preset threshold after the orientation parameters of at least part of the cameras are adjusted, outputting the adjusted simulation pose parameters.

3. The method of claim 2, wherein, The adjusting of the simulation pose parameters of the camera array according to the occlusion pose relationship, so that the visual field blind area proportion of the collection field of view of the camera array being occluded by the at least one object is less than a preset threshold, further comprises: when the visual field blind area proportion of the camera array is greater than the preset threshold after the orientation parameters of at least part of the cameras are adjusted, arranging at least one camera in the camera array, and updating the camera array.

4. The method of claim 2, wherein, The adjusting of the orientation parameters of at least part of the cameras while keeping the position parameters of each camera in the camera array, comprises: adjusting orientation parameters of a current part of the cameras while keeping the position parameters of each camera in the camera array; if the visual field blind area proportion is reduced after the orientation parameters of the current part of the cameras are adjusted, keeping the orientation parameters of the current part of the cameras while taking part of the remaining cameras as updated current part of the cameras, and adjusting the orientation parameters of the updated current part of the cameras.

5. The method of claim 4, wherein, The adjusting of the orientation parameters of at least part of the cameras while keeping the position parameters of each camera in the camera array, further comprises: adjusting orientation parameters of a current part of the cameras while keeping the position parameters of each camera in the camera array; If the visual field blind area proportion increases after the orientation parameter of the current partial camera is adjusted, the orientation parameter of the current partial camera is restored to that before the adjustment, and a partial camera among the remaining cameras is taken as an updated current partial camera to adjust the orientation parameter of the updated current partial camera.

6. The method of claim 4, wherein, The orientation parameter of the current partial camera among the cameras is adjusted, including: In the multiple adjustments of the orientation parameter of the current partial camera by a preset angle step, if the visual field blind area proportion decreases after the orientation parameter of the current partial camera is adjusted in a current time, the next adjustment of the orientation parameter of the current partial camera is performed, and if the visual field blind area proportion does not decrease after the orientation parameter of the current partial camera is adjusted in the current time, the orientation parameter of the current partial camera is restored to that before the current time.

7. The method of claim 2, wherein, The determination of the visual field blind area proportion of the collection visual field of the camera array according to the occlusion positional relationship includes: sampling the spatial positions of the optical positioning site to obtain multiple sampling points; determining whether each sampling point is in the visual field blind area of the camera array according to the occlusion positional relationship; determining the visual field blind area proportion of the collection visual field of the camera array as the proportion between the number of the sampling points in the visual field blind area of the camera array and the number of the multiple sampling points.

8. The method of claim 7, wherein, The determination of whether each sampling point is in the visual field blind area of the camera array according to the occlusion positional relationship includes: judging whether each sampling point is occluded in the collection visual field of each camera in the camera array; if a sampling point is occluded in the collection visual field of more than a preset number of cameras, it is determined that the sampling point is in the visual field blind area of the camera array.

9. The method of claim 8, wherein, The judgment of whether each sampling point is occluded in the collection visual field of each camera in the camera array includes: judging whether each sampling point is in the collection visual field of each camera in the camera array; if a sampling point is in the collection visual field of a camera and a virtual connection line between the sampling point and the camera passes through the simulation position of at least one object, it is determined that the sampling point is occluded in the collection visual field of the camera; if a sampling point is not in the collection visual field of a camera, it is directly determined that the sampling point is occluded in the collection visual field of the camera.

10. The method of claim 1, wherein, The determination of the simulation position of at least one object in the optical positioning site includes: acquiring three-dimensional image data of the optical positioning site, and performing surface mesh representation on the three-dimensional image data; performing feature recognition on the surface mesh representation to obtain at least one object in the optical positioning site; marking the recognized position of the at least one object as the simulation position.

11. An optical positioning configuration device, comprising: a determination module configured to determine a simulation position of at least one object in an optical positioning site, wherein the optical positioning site is arranged with a camera array used for performing optical positioning in the optical positioning site. The matching module matches the simulation pose parameters of the camera array with the optical positioning site in space, and determines the occlusion azimuth relationship between the collection field of view of the camera array in the optical positioning site and the simulation position of the at least one object according to the matching result. The adjusting module adjusts the simulation pose parameters of the camera array according to the occlusion azimuth relationship, so that the proportion of the visual blind area of the camera array, which is occluded by the at least one object, in the collection field of view is less than a preset threshold, wherein the proportion of the visual blind area is the proportion between the number of sampling points in the visual blind area of the camera array and the number of the plurality of sampling points obtained by sampling the spatial position of the optical positioning site. The configuration module configures the camera array according to the adjusted simulation pose parameters.

12. An electronic device comprising: The processor, the memory, the communication interface and the communication bus complete communication with each other through the communication bus. The memory is used to store at least one executable instruction, and the executable instruction makes the processor execute the method according to any one of claims 1-10.

13. A computer storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method according to any one of claims 1-10.

14. A computer program product comprising computer instructions, wherein the computer instructions are executed by a processor to implement the method according to any one of claims 1-10.

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